Lubo N Kostov

US Patent:

6037733, Mar 14, 2000

Filed:

May 15, 1998

Appl. No.:

9/079850

Inventors:

Genco Genov - San Jose CA
Alexander Todorov - Sunnyvale CA
Lubo Kostov - Sunnyvale CA
Peter Petkov - Sunnyvale CA
Valentin Totev - Sunnyvale CA
Eugene Bonev - Santa Clara CA
Zlatko Sotirov - Sunnyvale CA

Assignee:

Genmark Automation - Sunnyvale CA

International Classification:

B25J 918

US Classification:

31856811

Abstract:

An improvement is set forth in a robotic arm structure which includes at least two links. . theta. motion is provided about a primary axis at the proximal end portion of the proximalmost of the links. R motion proceeds radially from the primary axis whereby the distal end portion of the distalmost of the links can be moved in a radially extending straight line. An end effector is pivotally mounted for rotation relative to the distal end portion of the distalmost link about an end effector axis which is parallel to the primary axis. The structure is improved by adding one or more a yaw motor, a roll motor and a pitch motor for rotating the wrist of the arm about the respective axes. A sensor array senses the R,. theta. , Z and yaw, roll and/or pitch motions and creates and transmits electronic signals representative thereof to a computer controller which monitors and controls the R,. theta.

US Patent:

57898901, Aug 4, 1998

Filed:

Jan 23, 1997

Appl. No.:

8/788898

Inventors:

Genco Genov - San Jose CA
Alexander Todorov - Sunnyvale CA
Lubo Kostov - Sunnyvale CA
Peter Petkov - Sunnyvale CA
Valentin Totev - Sunnyvale CA
Eugene Bonev - Santa Clara CA
Zlatko Sotirov - Sunnyvale CA

Assignee:

Genmark Automation - Sunnyvale CA

International Classification:

B25J 500
G05B 1910

US Classification:

318567

Abstract:

An improvement is set forth in a robotic arm structure which includes at least two links. . theta. motion is provided about a primary axis at the proximal end portion of the proximalmost of the links. R motion proceeds radially from the primary axis whereby the distal end portion of the distalmost of the links can be moved in a radially extending straight line. An end effector is pivotally mounted for rotation relative to the distal end portion of the distalmost link about an end effector axis which is parallel to the primary axis. The structure is improved by adding one or more of a yaw motor, a roll motor and a pitch motor for rotating the wrist of the arm about the respective axes. A sensor array senses the R,. theta. , Z and yaw, roll and/or pitch motions and creates and transmits electronic signals representative thereof to a computer controller which monitors and controls the R,. theta.

US Patent:

61217433, Sep 19, 2000

Filed:

Aug 4, 1998

Appl. No.:

9/129110

Inventors:

Genco Genov - late of San Jose CA
Alexander Todorov - Sunnyvale CA
Lubo Kostov - Sunnyvale CA
Peter Petkov - Sunnyvale CA
Valentin Totev - Sunnyvale CA
Eugene Bonev - Santa Clara CA
Zlatko Sotirov - Sunnyvale CA

Assignee:

Genmark Automation, Inc. - Sunnyvale CA

International Classification:

B25J 916

US Classification:

31856811

Abstract:

An improvement is set forth in a robotic arm structure which includes at least two links. . theta. motion is provided about a primary axis at the proximal end portion of the proximalmost of the links. R motion proceeds radially from the primary axis whereby the distal end portion of the distalmost of the links can be moved in a radially extending straight line. At least two independent end effectors are pivotally mounted for rotation relative to the distal end portion of the distalmost link about an end effector axis which is parallel to the primary axis. The structure is improved by adding independent yaw motors for rotating the end effectors independently.