US 12,240,100 B2
Controlled compliant gripping and manipulating system for a robot
Miguel Arturo Saez, Clarkston, MI (US); John Patrick Spicer, Plymouth, MI (US); Muhammad E. Abdallah, Farmington Hills, MI (US); James W. Wells, Rochester Hills, MI (US); and Tom Malburg, Romeo, MI (US)
Assigned to GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed by GM Global Technology Operations LLC, Detroit, MI (US)
Filed on Dec. 14, 2021, as Appl. No. 17/550,217.
Prior Publication US 2023/0182301 A1, Jun. 15, 2023
Int. Cl. B25J 15/00 (2006.01); B25J 17/02 (2006.01)
CPC B25J 15/0028 (2013.01) [B25J 17/0208 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A compliant end effector for a component gripping and manipulating system comprising:
a robot mounting bracket mountable to a robot manipulating arm;
a component support member connected to the robot manipulating arm, the component support member configured to be inserted into a component and configured to support the component with clearance such that movement of the component relative to the component support member is allowed, the component support member including a side surface and a top surface;
a component clamping system including a first clamp member operable to move toward the side surface of the component support member and a second clamp member operable to move toward the top surface of the component support member, the first clamp member configured to press the component against the side surface and the second clamp member configured to press the component against the top surface to fix the component relative to the component support member; and
a controller operatively connected to the clamping system, the controller configured to engage the first and second clamp members as the component gripping and manipulating system is in a set position and release the first clamp member and the second clamp member allowing a portion of the component held by the component clamping system to move with one or more degrees of freedom, when the component gripping and manipulating system is moving to the set position.