parts handling robot stamping

@inproceedings{Cigna1984partsHR,
  title={parts handling robot stamping},
  author={P. Cigna},
  year={1984}
}
THE INVENTION CONCERNING HANDLING ROBOTS. IT RELATES TO THAT ROBOT ARM 5 JOINT ON A SUPPORT STRUCTURE 9 ARTICULEE ITSELF ON AN AUXILIARY SUPPORT STRUCTURE WHICH MAY 17 TURN AROUND AN AXIS 18. MOVEMENTS OF ROTATION OF BOTH SUPPORT STRUCTURES AROUND THEIR AXES ROTATION 16, 18 ARE CARRIED WITH FIXED REPORT AND OPPOSITE WAY SO THAT THE PART TO MOVE E traverses DIRECTIONS SUBSTANTIALLY STRAIGHT , FOLLOWING A hARMONIC MOVEMENT. APPLICATION TO THE HANDLING OF ROOMS IN CHAINS STAMPING. 

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