MANIPULATEUR MECANIQUE MUNI DE DETECTEURS RETRACTABLES

1524622 Manipulators INTERNATIONAL BUSINESS MACHINES CORP 15 Jan 1976 [7 April 1975] 1491/76 Heading B8H [Also in Division G3] A manipulator is positioned by a computer effecting a Boolean-decision logic search procedure in response to signals from contacts 40 A-C, Fig. 1, responsive to movements of a probe 18 mounted in a finger. The probe is extended by a piston and cylinder arrangement 20. For non-contacting operations, such as contouring, restriction, by the workpiece, of flow through a passage 57 is sensed by a semiconductor pressure-sensor 49. The manipulator, Fig. 4A, comprises a rotatable base 106 and pillar 104 on which is mounted positioning arms 66, 93. Gripping fingers 10, 12 are mounted in gimbals for positioning about roll, pitch and yaw axes 72, 68, 70. The probe 18 is mounted with the finger 10 and senses the pressure of a workpiece 48.