United States Patent  [ii] Patent Number: 4,776,749
Wanzenberg et al.  Date of Patent: Oct. 11, 1988
 ROBOTIC DEVICE
 Inventors: Fritz W. Wanzenberg, Larchmont, N.Y.; Richard L. Grover, Whittier, Calif.
 Assignee: Northrop Corporation, Hawthorne, Calif.
 Appl. No.: 843,887
 Filed: Mar. 25, 1986
 Int. a." B2SJ 9/12
 U.S. CI 414/680; 29/39;
408/35; 408/236; 408/237; 414/735; 414/736;
901/14; 901/23; 901/41
 Field of Search 901/23, 14, 41;
414/680, 728, 732, 735; 212/236; 408/35, 236, 237; 29/35.5, 39, 40, 41, 47
 References Cited
U.S. PATENT DOCUMENTS
4,407,625 10/1983 Shum 414/728
4,569,627 2/1986 Simunovic 414/735
FOREIGN PATENT DOCUMENTS
0202206 11/1986 European Pat. Off. 901/14
1224137 4/1986 U.S.S.R 901/23
2083795 3/1982 United Kingdom 901/23
2173472 10/1986 United Kingdom 901/14
Primary Examiner—Robert J. Spar
Assistant Examiner—P. McCoy Smith
Attorney, Agent, or Firm—Terry J. Anderson; Robert B.
A robotic positioning device has a support structure and a tool implement holding member which is positional within the three dimensional space of the support structure. The tool implement holding member is connected to the support structure utilizing five positioning members. Each of these positioning members is connected to the tool implement holding member. Three of the positioning members are connected to the holding member at a first common center of rotation and the other two positioning members are connected to the holding member at a second common center of rotation. Each of the positioning members is attached to the support structure utilizing a connecting member which allows for the positioning member to freely pivot with respect to the support structure and additionally allows the member to move with respect to the support structure axially along an axis of the member. This is accomplished by moving the members axially toward or away from the support structure. Because of the movement of the individual members, any tool located on the tool implement holding member can be precisely located with respect to the support structure.
10 Claims, 4 Drawing Sheets