Tri-axial force transducer for a manipulator gripper
US4478089A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Jun 29, 1982 |
| Grant date | Oct 23, 1984 |
| Priority date | — |
| Expiry date | Jun 29, 2002 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10S294/907
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
A multi-degree of freedom force transducer is provided for measuring forces applied to gripper fingers in a manipulator when grasping an object therebetween. The transducer includes a pair of force sensor assemblies rigidly connected at a first end to a respective finger and at a second end to a drive member for the gripper. A plurality of parallel beam structures are contained in each of the force sensor assemblies, each consisting of a pair of flat parallel flexure members, each member bridging opposite sides of a gap in the structure. These parallel beam structures are oriented so that the axis perpendicular to the planar surfaces of the parallel flexure members are orthogonal to one another, providing the capability of measuring the force applied to an object held by the gripper in the X, Y and Z axial directions. A strain gage of a pair of strain gages is located at a predetermined opposite maximum flexure point of each flexure member of said parallel beam structures, so as to measure the flexure of the member at the predetermined flexure points, which flexure is indicative of the force vector along the axis perpendicular to the parallel flexure members. In another embodiment …
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.