Robotic end effector Page: 4 of 18
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ROBOTIC END EFFECTOR
5 BACKGROUND OF THE INVENTION
1. Field of the Invention:
The present invention relates to end effectors for robotic arms.
In particular, the present invention relates to end effectors designed to
1 0 hold inspection probes against a surface. The United States
Government has rights in this invention pursuant to Contract No. DE-
AC09-89SR18035 between the U.S. Department of Energy and
Westinghouse Savannah River Company.
2. Discussion of Background:
1 5 A variety of apparatus are known for manipulating the position
of a test probe. For example, Bromwich (U.S. patent 4,056,972)
describes an apparatus containing a clamp and hinged arm capable of
testing inaccessible parts of heat exchangers and the like.
Overbay, in U.S. 4,856,354, describes a remotely controlled
20 manipulator for an inspection probe, such as a fiberscope, that allows
precise, measured rotational movement and translative advancing and
retracting movement The standard connecting device used in this
manipulator to connect the apparatus with its control unit suggests that
it can be used in conjunction with a robotic arm.
25 In U.S. patent 4,505,874, Warren, et al, describe a remotely
controlled supporting arm for an ultrasound transducer "sled" that
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Minichan, R.L. Robotic end effector, patent, December 31, 1991; Aiken, South Carolina. (digital.library.unt.edu/ark:/67531/metadc621623/m1/4/: accessed January 23, 2019), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.