Robot cable-compliant devices

Abstract

A cable compliant robotic joint includes two U configuration cross section brackets with their U cross sections lying in different planes, one of their brackets being connected to a robot arm and the other to a tool. Additional angle brackets are displaced from the other brackets at corners of the robotic joint. All the brackets are connected by cable segments which lie in one or more planes which are perpendicular to the direction of tool travel as it approaches a work object. The compliance of the joint is determined by the cable segment characteristics, such as their length, material, angle, stranding, pretwisting, and prestressing.