CA1139404A - Apparatus for detecting forces directing the movement of a manipulating instrument - Google Patents
Apparatus for detecting forces directing the movement of a manipulating instrumentInfo
- Publication number
- CA1139404A CA1139404A CA000335986A CA335986A CA1139404A CA 1139404 A CA1139404 A CA 1139404A CA 000335986 A CA000335986 A CA 000335986A CA 335986 A CA335986 A CA 335986A CA 1139404 A CA1139404 A CA 1139404A
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- CA
- Canada
- Prior art keywords
- center part
- transducer means
- data transducer
- pair
- longitudinal axis
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
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- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 230000004044 response Effects 0.000 claims description 3
- 230000000284 resting effect Effects 0.000 claims 2
- 238000005452 bending Methods 0.000 abstract description 7
- 239000000463 material Substances 0.000 description 6
- 239000002131 composite material Substances 0.000 description 5
- 230000004913 activation Effects 0.000 description 2
- 230000005489 elastic deformation Effects 0.000 description 2
- 230000001939 inductive effect Effects 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
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- 229910000831 Steel Inorganic materials 0.000 description 1
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
- G05B19/423—Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/02—Hand grip control means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37357—Force, pressure, weight or deflection
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
- H01H2239/00—Miscellaneous
- H01H2239/052—Strain gauge
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
APPARATUS FOR DETECTING FORCES DIRECTING
THE MOVEMENT OF A MANIPULATING INSTRUMENT
Abstract of the Disclosure An apparatus attached to a motor driven manipulating instrument for detecting and identifying specific forces employed in moving said instrument along a predetermined spatial track.
The apparatus includes a center portion rigidly attached to the manipulating instrument and a sleeve member surrounding the center portion. A plurality of separate, flexible blades join the sleeve and center portions to each other, with a separate transducer fixedly attached to each flexible blade and capable of detecting bending forces employed to move the sleeve and attached instrument. The transducers generate output signals indicative of the magnitude and direction of the forces, which signals are used for establishing a program for controlling the actuation of the various motors to allow the instrument to repeatedly execute the course set forth in the program.
THE MOVEMENT OF A MANIPULATING INSTRUMENT
Abstract of the Disclosure An apparatus attached to a motor driven manipulating instrument for detecting and identifying specific forces employed in moving said instrument along a predetermined spatial track.
The apparatus includes a center portion rigidly attached to the manipulating instrument and a sleeve member surrounding the center portion. A plurality of separate, flexible blades join the sleeve and center portions to each other, with a separate transducer fixedly attached to each flexible blade and capable of detecting bending forces employed to move the sleeve and attached instrument. The transducers generate output signals indicative of the magnitude and direction of the forces, which signals are used for establishing a program for controlling the actuation of the various motors to allow the instrument to repeatedly execute the course set forth in the program.
Description
01 Background of the Invention 02 The present invention generally relates to a 03 motor-driven manipulating instrument adaptable for being 04 programmed to repeatedly execute a predetermined series of 05 spatial movements. In particular, the present invention is 06 directed to a novel apparatus for generating a series of signals 07 indicative of the specific movements of the instrument, which 08 signals are adaptable for establishing a control program to 09 control the drive motors and hence the movement of the instrument itself.
11 A manipulating robot instrument usually includes a 12 control arm assembly formed from a plurality of attached members, 13 with a hand attached to an end of the arm assembly for performing 14 predetermined manipulations. For example, the hand may be employed in precision welding of two auto body parts to one 16 another, thereby freeing a human operator from performing the 17 repetitive and often boring task. However, in order to perform 18 such work tasks, the robot hand must be able to precisely and 19 repeatedly follow a predetermined spatial track.
One such known xotor assembly includes a composite arm 21 assembly which can perform linear movement along two mutually 22 perpendicular axes as well as rotation about one of the axes. As 23 a result, the arm assembly is capable of executing a swivelling 24 movement by combining the linear and rotative movements discussed hereabove. Furthermore, a hand member attached to such a known 26 robot arm assembly can be rotated about an axis extending in the 27 axial direction of the arm assembly as well as being rotatable 28 about separate axes extending perpendicularly to each of the 29 mutually perpendicular axes, respectively. Finally, a plurality of separate drive motors are arranged for driving the various 31 component members of the arm assembly as well as the attached 32 hand member.
~3~
, 01 In order to control the movement of the arm assembly, a 02 control program is required for actuating the various drive 03 motors in a predetermined sequence. In the ~nown robot arm 04 assembly, the desired track is usually divided into a series of 05 linear sections, allowing the track curve to be approximated by 06 straight-line linear movements which can be mathematically 07 programmed. However, such mathematically originated programs are 08 very complex and costly and, more importantly, can only roughly 09 approximate the desired track.
In an effort to provide an assembly which more 11 faithfully reproduces the desired spatial track, a further known 12 robot arm assembly suggests that an elaborate template assembly 13 surround the composite robot arm and hand assembly. The template 14 assembly is formed from a plurality of separate members which are positioned to follow the precise movements of the aggregate robot 16 arm assembly. The template assembly carries a plurality of 17 switches which are selectively activated upon contact with the 18 various components of the rotor arm assembly. When activated, 19 the switches close an electrical circuit which provides a signal indicative of a specific robot arm movement; with the signals 21 being used to establish a control program for actuating the robot 22 arm drive motors.
23 The exceedingly complicated layout of the 24 above-referenced template assembly greatly increases the cost of programming the robot arm. In addition, an unavoidable time play 26 must exist between the movement of the individual rotor arm 27 members and activation of the various switch members, resulting 28 in a significant variation between the actual movements of the 29 rotor arm and the program generated by actuation of the switches. Furthermore, a further error or fault in programming 31 is directly caused by the dead weight of the template itself, 32 which dead weight can result in switch activation without a 33 corresponding movement of the robot arm. In fact, actual tests ' 01 have shown that such programming faults tend to lead to the robot 02 arm following so-called jumpy or step curves rather than the 03 continuous curves often required in welding operations or the 04 like. The outlay required to compensate Eor such jumpy or step 05 movements have made the use of a template commercially 06 unacceptable.
07 As will be discussed in detail hereafter, the present 08 invention provides an apparatus capable of precisely following 09 the manual manipulations of a robot arm assembly and of generating a signal corresponding to such manipulations, which 11 signal is adaptable for establishing a control program to control 12 the robot arm drive motors for repeatedly manipulating the arm 13 assembly.
14 Objects and Summary of the Present Invention An object of the present invention is to provide a 16 progxamming device capable of accurately detecting manually 17 actuated movements of a robot arm assembly and generating 18 electrical control signals indicative of such movements, which 19 signals are adaptable for establishing a control program for operating drive motors to accurately repeat the manually actuated 21 movements.
22 A further object of the present invention is to provide 23 a programming device in the form of a handle having a rigid 24 center portion attached to the robot arm assembly and an outer sleeve attached to the center portion via a plurality of separate 26 flexible blade portions, with separate force detecting 27 transducers mounted on each of the respective blade portions.
28 A yet further object of the present invention is to 29 provide a programming device capable of generating an electrical signal in response to linear and/or rotative manipulation of the 31 composite robot arm assembly.
32 Each of these objects, as well as additional objects, 33 is achieved in a preferred embodiment of the present invention, 34 X _ 4 _ ~3~0~
01 wherein a handle-shaped device includes a center portion rigidly 02 attached to a motor drive rotor arm assembly. The handle-shaped 03 device further includes a sleeve-shaped member surrounding and 04 connected to the center portion via a plurality of separate blade 05 portions, wherein a first plurality of blade portions extend 06 parallel to a longitudinal axis of the handle-shaped device and a 07 second plurality of blade portions extend along the contour of 08 the device and transversely to the longitudinal axis. A force 09 transducer in the form of a wire strip is mounted on each blade portion. During operation, an operator merely grasps and moves 11 the sleeve-shaped member to manually manipulate the rotor arm 12 attached thereto. Because the sleeve-shaped member is attached 13 to the rigid center portion via the flexible blade portions, 14 initial movement of the sleeve results in expansion of at least one of the flexible blade portions and a corresponding expansion 16 in the wire strip mounted thereon. As a result of expanding or 17 stretching the wire strip, it is possible to alter the resistance 18 of the wire to current flowing therethrough. This, in turn, 19 results in the charging level of a control current flowing throùgh the wire. By carefully noting the changing current 21 levels flowing through the various wire strips, it is possible to 22 accurately detect and reproduce the various linear and rotative 23 movements of the handle-shaped device and robot arm assembly 24 attached thereto.
The detailed operation of the present invention will 26 become apparent from a reading of the following specification 27 taken in conjunction with the attached drawings, wherein similar 28 elements are designated by similar reference numerals.
29 Brief Description of the Drawings The present invention~can be best understood in 31 conjunction with the attached drawings, wherein:
32 Figure 1 shows a schematic representation of a 33 manipulating instrument including a programming apparatus formed ~139~
01 in accordance with the present invention;
02 Figure 2 shows a partial longitudinal cross-section of 03 the programming device formed in accordance with the embodiment 04 shown in Figure l;
05 Figure 3 shows a sectional view taken along a section 06 line C-D in Figure 2;
07 Figure 4 shows a sectional view taken along section 08 line A-B in Figure 2; and 09 Figure 5 shows a partial longitudinal cross-section of an alternate programming device.
11 Detailed Description of Preferred Embodiments 12 The preferred embodiment of the present invention will 13 now be described with reference to Figures 1-4, respectively.
14 Movements will be described with reference to Cartesian co-ordinates designated by the mutually perpendicular axes X, Y
16 and Z. In addition, rotary movements about the X and Y axes will 17 also be discussed hereafter. While a Cartesian co-ordinate 18 system has been employed for describing the present invention, it 19 is evident that the present invention need not be limited to the Cartesian co-ordinate system but could be described with 21 reference to Polar co-ordinates or the like.
22 Referring now to Figure 1, a manipulating instrument or 23 robot is generally designated by the numeral 22. Robot 22 24 includes a composite arm assembly 26 and a composite hand assembly 27 attached to an end portion of arm assembly 26. The 26 movements of arm assembly 26 can be divided into separate linear 27 components extending in the directions of the axes X', Y' and Z' 28 as best shown in Figure 1, wherein axis X' extends parallel to 29 the longitudinal axis through arm assembly 26. In addition, arm assembly 26 can achieve rotary motion about the Y axis as 31 designated by the arrow dy'. Hand assembly 27 includes a first 32 member 27a which can perform rotary movement about the X' axis as 1:13~
01 denoted by the arrow dx'l in Figure 1. Hand assembly 27 includes 02 a second member 27b capable of performing rotary movement about 03 the Z' axis, as denoted by the arrow dz'. Finally, hand assembly 04 27 includes a third member 27c which can perform rotary movement 05 about an axis extending parallel which can perform rotary 06 movement about an axis extending parallel to the X' axis, with 07 this rotary movement being denoted by the arrow Dx'2. Each of 08 the hand assembly members 27a-c as well as robot arm assembly 26 09 is individually powered by a separate motor assembly to allow for individual movement of the various arm and hand members as 11 required to move a point P to a tool 25 attached to hand assembly 12 27 along a spatial curve generally designated at 24.
13 An apparatus capable of precisely detecting both linear 14 and rotary movements of arm assembly 26 and hand assembly 27 is generally designated at 23. As will be described hereafter, the 16 apparatus functions as a programming device, in that apparatus 23 17 provides output signals adaptable for establishing a control 18 program for operating the various motor a~semblies to control the 19 movements of the various arm and hand members described hereabove. The linear movements of apparatus 23 will be 21 described with reference to the Cartesian co-ordinate system 22 designated by the X, Y and Z axes shown in Figure 1. In 23 addition, apparatus 23 i8 capable of performing rotary movements 24 about the three mutually perpendicular axes as indicated by the arrows dx, dy and dz, respectively.
26 Referring now to Figure 2, a longitudinal 27 cross-sectional view of apparatus 23 is shown, wherein the left 28 hand portion of Figure 2 provides a cut-away view of a center 29 portion 13 and surrounding sleeve member 14, while the right hand portion of Figure 2 shows only a cross-sectional view of sleeve 31 14, with center portion 13 shown in the form of a top view.
X
~3~
01 Apparatus 23 takes the form of a handle-shaped member, 02 wherein the center portion 13 is rigidly attached to hand member 03 27c and the longitudinal axis of apparatus 23 substantially ~04 corresponds to the Z axis of the above-described Cartesian 05 co-ordinate system. The sleeve member 14 surrounds the center 06 portion 13, with a first end portion of sleeve 14 being attached 07 to center portion 13 via four spaced blade members 15, lS', 15'', 08 and 15'''. Likewise, sleeve 14 includes a second, opposite end 09 portion which is attached to center portion 13 via four additional blade members 16, 16', 16'', and 16'''. Each of the 11 four blade members 15, 15', 15'', and 15''' are circumferentially 12 spaced substantially 90 relative to one another and are arranged 13 about the Z axis extending longitudinally through center portion 14 13. In a like manner, the four blade members 16, 16', 16'', and 16''' are also circumferentially spaced substantially 90 16 relative to each other about the Z axis extending longitudinally 17 through center portion 13. Each of the blade members is formed 18 of an elastically-deformable material which, in a preferred 19 embodiment, may comprise a metal such as steel or the like.
However, plastic materials capable of elastic deformation may 21 also be employed, for example, but not limited thereto, those 22 materials sold under the trademarks "NYLON" or "DELRAN". It is 23 considered within the scope of the present invention to 24 substitute other materials for the blade members, provided such materials are capable of the type of elastic deformation 26 discussed hereafter.
27 Turning again to Figure 2, the four blades 15, 15', 28 15'', and 15''' include a pair of blade members lS and 15'' 29 positioned on opposite sides of center portion 13 from one another and a further pair of blade members 15' and 15''' also 31 positioned on opposite sides of the center portion 13 from one 32 another. For purposes of explanation only, it will be considered 33 that blade member 15 substantially faces arm assembly 26, while 34 oppositely disposed blade member 15'' faces away from arm assembly 16 and substantially in the direction of tool 25. In a C
36 like manner, the further blade assembly includes a plurality of 3t4(~4 01 four separate blades, with blade members 16 and 16'' positioned 02 on opposite sides of center portion 13 From one another and blade 03 members 16' and 16''' also positioned on opposite sides of center 04 portion 13 from one another. Furthermore, in a preferred 05 embodiment of the present invention, each of the blade members 06 16-16''' is axially aligned with respective blade members 07 15-15''' as shown in Figure 2.
08 A first set of data producers is fixedly attached to 09 each of the blade members 15-15''', while a second, separate set of data producers is attached to each of the blade members 11 16-16''', respectively. In a preferred embodiment of the present 12 invention, each of the data producers comprises an expandable 13 strip of wire extending parallel to the longitudinal axis Z
14 formed through apparatus 23. ~s will be described hereafter, ;15 each of the strips functions as a transducer to provide an 16 electrical signal indicative of the expansion of the particular 17 strip. In particular, blade members 15 and 15''' include the 18 expanding strips designated 7 and 8, while blade members 15' and 19 15''' carry the expanding strips designated 2 and 1, respectively. Likewise, the blade members 16 and 16 " carry the 21 expanding strips de~ignated 6 and 5, while the blade members 16' 22 and 16''' include the expanding strips 4 and 3, respectively, 23 wherein expanding strips 3-6 are shown in parentheses in Figure 24 3.
In addition, two additional blade members 17 and 17 ' 26 are attached to surface portion of center portion 13 positioned 27 substantially half-way between blade members 15-15''' and
11 A manipulating robot instrument usually includes a 12 control arm assembly formed from a plurality of attached members, 13 with a hand attached to an end of the arm assembly for performing 14 predetermined manipulations. For example, the hand may be employed in precision welding of two auto body parts to one 16 another, thereby freeing a human operator from performing the 17 repetitive and often boring task. However, in order to perform 18 such work tasks, the robot hand must be able to precisely and 19 repeatedly follow a predetermined spatial track.
One such known xotor assembly includes a composite arm 21 assembly which can perform linear movement along two mutually 22 perpendicular axes as well as rotation about one of the axes. As 23 a result, the arm assembly is capable of executing a swivelling 24 movement by combining the linear and rotative movements discussed hereabove. Furthermore, a hand member attached to such a known 26 robot arm assembly can be rotated about an axis extending in the 27 axial direction of the arm assembly as well as being rotatable 28 about separate axes extending perpendicularly to each of the 29 mutually perpendicular axes, respectively. Finally, a plurality of separate drive motors are arranged for driving the various 31 component members of the arm assembly as well as the attached 32 hand member.
~3~
, 01 In order to control the movement of the arm assembly, a 02 control program is required for actuating the various drive 03 motors in a predetermined sequence. In the ~nown robot arm 04 assembly, the desired track is usually divided into a series of 05 linear sections, allowing the track curve to be approximated by 06 straight-line linear movements which can be mathematically 07 programmed. However, such mathematically originated programs are 08 very complex and costly and, more importantly, can only roughly 09 approximate the desired track.
In an effort to provide an assembly which more 11 faithfully reproduces the desired spatial track, a further known 12 robot arm assembly suggests that an elaborate template assembly 13 surround the composite robot arm and hand assembly. The template 14 assembly is formed from a plurality of separate members which are positioned to follow the precise movements of the aggregate robot 16 arm assembly. The template assembly carries a plurality of 17 switches which are selectively activated upon contact with the 18 various components of the rotor arm assembly. When activated, 19 the switches close an electrical circuit which provides a signal indicative of a specific robot arm movement; with the signals 21 being used to establish a control program for actuating the robot 22 arm drive motors.
23 The exceedingly complicated layout of the 24 above-referenced template assembly greatly increases the cost of programming the robot arm. In addition, an unavoidable time play 26 must exist between the movement of the individual rotor arm 27 members and activation of the various switch members, resulting 28 in a significant variation between the actual movements of the 29 rotor arm and the program generated by actuation of the switches. Furthermore, a further error or fault in programming 31 is directly caused by the dead weight of the template itself, 32 which dead weight can result in switch activation without a 33 corresponding movement of the robot arm. In fact, actual tests ' 01 have shown that such programming faults tend to lead to the robot 02 arm following so-called jumpy or step curves rather than the 03 continuous curves often required in welding operations or the 04 like. The outlay required to compensate Eor such jumpy or step 05 movements have made the use of a template commercially 06 unacceptable.
07 As will be discussed in detail hereafter, the present 08 invention provides an apparatus capable of precisely following 09 the manual manipulations of a robot arm assembly and of generating a signal corresponding to such manipulations, which 11 signal is adaptable for establishing a control program to control 12 the robot arm drive motors for repeatedly manipulating the arm 13 assembly.
14 Objects and Summary of the Present Invention An object of the present invention is to provide a 16 progxamming device capable of accurately detecting manually 17 actuated movements of a robot arm assembly and generating 18 electrical control signals indicative of such movements, which 19 signals are adaptable for establishing a control program for operating drive motors to accurately repeat the manually actuated 21 movements.
22 A further object of the present invention is to provide 23 a programming device in the form of a handle having a rigid 24 center portion attached to the robot arm assembly and an outer sleeve attached to the center portion via a plurality of separate 26 flexible blade portions, with separate force detecting 27 transducers mounted on each of the respective blade portions.
28 A yet further object of the present invention is to 29 provide a programming device capable of generating an electrical signal in response to linear and/or rotative manipulation of the 31 composite robot arm assembly.
32 Each of these objects, as well as additional objects, 33 is achieved in a preferred embodiment of the present invention, 34 X _ 4 _ ~3~0~
01 wherein a handle-shaped device includes a center portion rigidly 02 attached to a motor drive rotor arm assembly. The handle-shaped 03 device further includes a sleeve-shaped member surrounding and 04 connected to the center portion via a plurality of separate blade 05 portions, wherein a first plurality of blade portions extend 06 parallel to a longitudinal axis of the handle-shaped device and a 07 second plurality of blade portions extend along the contour of 08 the device and transversely to the longitudinal axis. A force 09 transducer in the form of a wire strip is mounted on each blade portion. During operation, an operator merely grasps and moves 11 the sleeve-shaped member to manually manipulate the rotor arm 12 attached thereto. Because the sleeve-shaped member is attached 13 to the rigid center portion via the flexible blade portions, 14 initial movement of the sleeve results in expansion of at least one of the flexible blade portions and a corresponding expansion 16 in the wire strip mounted thereon. As a result of expanding or 17 stretching the wire strip, it is possible to alter the resistance 18 of the wire to current flowing therethrough. This, in turn, 19 results in the charging level of a control current flowing throùgh the wire. By carefully noting the changing current 21 levels flowing through the various wire strips, it is possible to 22 accurately detect and reproduce the various linear and rotative 23 movements of the handle-shaped device and robot arm assembly 24 attached thereto.
The detailed operation of the present invention will 26 become apparent from a reading of the following specification 27 taken in conjunction with the attached drawings, wherein similar 28 elements are designated by similar reference numerals.
29 Brief Description of the Drawings The present invention~can be best understood in 31 conjunction with the attached drawings, wherein:
32 Figure 1 shows a schematic representation of a 33 manipulating instrument including a programming apparatus formed ~139~
01 in accordance with the present invention;
02 Figure 2 shows a partial longitudinal cross-section of 03 the programming device formed in accordance with the embodiment 04 shown in Figure l;
05 Figure 3 shows a sectional view taken along a section 06 line C-D in Figure 2;
07 Figure 4 shows a sectional view taken along section 08 line A-B in Figure 2; and 09 Figure 5 shows a partial longitudinal cross-section of an alternate programming device.
11 Detailed Description of Preferred Embodiments 12 The preferred embodiment of the present invention will 13 now be described with reference to Figures 1-4, respectively.
14 Movements will be described with reference to Cartesian co-ordinates designated by the mutually perpendicular axes X, Y
16 and Z. In addition, rotary movements about the X and Y axes will 17 also be discussed hereafter. While a Cartesian co-ordinate 18 system has been employed for describing the present invention, it 19 is evident that the present invention need not be limited to the Cartesian co-ordinate system but could be described with 21 reference to Polar co-ordinates or the like.
22 Referring now to Figure 1, a manipulating instrument or 23 robot is generally designated by the numeral 22. Robot 22 24 includes a composite arm assembly 26 and a composite hand assembly 27 attached to an end portion of arm assembly 26. The 26 movements of arm assembly 26 can be divided into separate linear 27 components extending in the directions of the axes X', Y' and Z' 28 as best shown in Figure 1, wherein axis X' extends parallel to 29 the longitudinal axis through arm assembly 26. In addition, arm assembly 26 can achieve rotary motion about the Y axis as 31 designated by the arrow dy'. Hand assembly 27 includes a first 32 member 27a which can perform rotary movement about the X' axis as 1:13~
01 denoted by the arrow dx'l in Figure 1. Hand assembly 27 includes 02 a second member 27b capable of performing rotary movement about 03 the Z' axis, as denoted by the arrow dz'. Finally, hand assembly 04 27 includes a third member 27c which can perform rotary movement 05 about an axis extending parallel which can perform rotary 06 movement about an axis extending parallel to the X' axis, with 07 this rotary movement being denoted by the arrow Dx'2. Each of 08 the hand assembly members 27a-c as well as robot arm assembly 26 09 is individually powered by a separate motor assembly to allow for individual movement of the various arm and hand members as 11 required to move a point P to a tool 25 attached to hand assembly 12 27 along a spatial curve generally designated at 24.
13 An apparatus capable of precisely detecting both linear 14 and rotary movements of arm assembly 26 and hand assembly 27 is generally designated at 23. As will be described hereafter, the 16 apparatus functions as a programming device, in that apparatus 23 17 provides output signals adaptable for establishing a control 18 program for operating the various motor a~semblies to control the 19 movements of the various arm and hand members described hereabove. The linear movements of apparatus 23 will be 21 described with reference to the Cartesian co-ordinate system 22 designated by the X, Y and Z axes shown in Figure 1. In 23 addition, apparatus 23 i8 capable of performing rotary movements 24 about the three mutually perpendicular axes as indicated by the arrows dx, dy and dz, respectively.
26 Referring now to Figure 2, a longitudinal 27 cross-sectional view of apparatus 23 is shown, wherein the left 28 hand portion of Figure 2 provides a cut-away view of a center 29 portion 13 and surrounding sleeve member 14, while the right hand portion of Figure 2 shows only a cross-sectional view of sleeve 31 14, with center portion 13 shown in the form of a top view.
X
~3~
01 Apparatus 23 takes the form of a handle-shaped member, 02 wherein the center portion 13 is rigidly attached to hand member 03 27c and the longitudinal axis of apparatus 23 substantially ~04 corresponds to the Z axis of the above-described Cartesian 05 co-ordinate system. The sleeve member 14 surrounds the center 06 portion 13, with a first end portion of sleeve 14 being attached 07 to center portion 13 via four spaced blade members 15, lS', 15'', 08 and 15'''. Likewise, sleeve 14 includes a second, opposite end 09 portion which is attached to center portion 13 via four additional blade members 16, 16', 16'', and 16'''. Each of the 11 four blade members 15, 15', 15'', and 15''' are circumferentially 12 spaced substantially 90 relative to one another and are arranged 13 about the Z axis extending longitudinally through center portion 14 13. In a like manner, the four blade members 16, 16', 16'', and 16''' are also circumferentially spaced substantially 90 16 relative to each other about the Z axis extending longitudinally 17 through center portion 13. Each of the blade members is formed 18 of an elastically-deformable material which, in a preferred 19 embodiment, may comprise a metal such as steel or the like.
However, plastic materials capable of elastic deformation may 21 also be employed, for example, but not limited thereto, those 22 materials sold under the trademarks "NYLON" or "DELRAN". It is 23 considered within the scope of the present invention to 24 substitute other materials for the blade members, provided such materials are capable of the type of elastic deformation 26 discussed hereafter.
27 Turning again to Figure 2, the four blades 15, 15', 28 15'', and 15''' include a pair of blade members lS and 15'' 29 positioned on opposite sides of center portion 13 from one another and a further pair of blade members 15' and 15''' also 31 positioned on opposite sides of the center portion 13 from one 32 another. For purposes of explanation only, it will be considered 33 that blade member 15 substantially faces arm assembly 26, while 34 oppositely disposed blade member 15'' faces away from arm assembly 16 and substantially in the direction of tool 25. In a C
36 like manner, the further blade assembly includes a plurality of 3t4(~4 01 four separate blades, with blade members 16 and 16'' positioned 02 on opposite sides of center portion 13 From one another and blade 03 members 16' and 16''' also positioned on opposite sides of center 04 portion 13 from one another. Furthermore, in a preferred 05 embodiment of the present invention, each of the blade members 06 16-16''' is axially aligned with respective blade members 07 15-15''' as shown in Figure 2.
08 A first set of data producers is fixedly attached to 09 each of the blade members 15-15''', while a second, separate set of data producers is attached to each of the blade members 11 16-16''', respectively. In a preferred embodiment of the present 12 invention, each of the data producers comprises an expandable 13 strip of wire extending parallel to the longitudinal axis Z
14 formed through apparatus 23. ~s will be described hereafter, ;15 each of the strips functions as a transducer to provide an 16 electrical signal indicative of the expansion of the particular 17 strip. In particular, blade members 15 and 15''' include the 18 expanding strips designated 7 and 8, while blade members 15' and 19 15''' carry the expanding strips designated 2 and 1, respectively. Likewise, the blade members 16 and 16 " carry the 21 expanding strips de~ignated 6 and 5, while the blade members 16' 22 and 16''' include the expanding strips 4 and 3, respectively, 23 wherein expanding strips 3-6 are shown in parentheses in Figure 24 3.
In addition, two additional blade members 17 and 17 ' 26 are attached to surface portion of center portion 13 positioned 27 substantially half-way between blade members 15-15''' and
2~3 16-16''', respectively. Each of the blade members 17 and 17' 29 extends substantially parallel to the longitudinal axis Z passing through center portion 13, with free end portions of the blades 31 17 and 17' facing each other. Expandable measuring strips 9 and 32 10 are fixedly mounted on blade members 17 and 17', with a bolt 33 18 being attached to sleeve 14 and projecting into snug 34 engagement with recessed end portions formed on blades 17 and 17'.
~r 36 ~ _ 9 _ ~3~
01 A further pair of confronting blade members 20 and 20' 02 are also mounted on center portion 13 as shown in Figure 2. In 03 particular, each of the blade members 20 and 20' extends along 04 the contour of center portion 13 in a direction substantially 05 transverse to the longitudinal axis Z, with the free end portions 06 of blade members 20 and 20' facing one another and with a pair of 07 expandable wire measuring strips 11 and 12 mounted on the blades 08 20 and 20', respectively. Finally, a bolt 19 is fixedly attached 09 to sleeve 14 with an end portion of bolt 19 snugly engaging a pair of recesses formed in free end portions of blades 20 and 20', 11 respectively. Finally, duct 21 extends longitudinally through 12 the interior of center portion 13 housing one or more electrical 13 wires extending therethrough. As is well-known in the prior art, 14 electrical current can be sent through each of the measuring strips 1-12, with the resistance of each strip to the flow of 16 electrical current being directly related to the deformation of 17 the particular strip. This means that a predetermined reference 18 signal can be sent through the electrical wires extending through 19 duct 21, with the reference signal passing through the expanding measuring strips 1-12 attached thereto. If a particular 21 mea~uring strip is caused to expand due to the deformation of a 22 particular blade member attached thereto, resistance of the 23 measuring strip to the flow of electrical current will vary in 24 accordance therewith. As a result, the particular input reference signal will also be altered in a manner directly 26 corresponding to the degree of expansion encountered by the 27 measuring strips.
28 The altered output from the deformed measuring strips 29 can be fed into a conventional computer assembly capable of interpreting the change in signal level and establishing a 31 control program which can be used for driving the various 32 electrical motors employed to move arm and hand assemblies 26 and 33 27, respectively. The preparation and execution of the control ,'. X
' 01 program makes up no part oP the present invention and is 02 therefore not described in detail herein.
03 The operation of the present invention will now be 04 described with reference to Figures 2-4 in particular. If it is 05 desired to have hand assembly 27 move along the X axis, an 06 operator need merely grasp and move sleeve 14 in the direction of 07 the arrow x, which results in the bending of the particular blade 08 members 15 and 16 and the lengthening of the measuring strips 6 09 and 7 mounted thereon. As a result, resistance of the strips 6 and 7 to the predetermined reference signal extending therethrough 11 will be altered, thus providing an output signal indicative of 12 of movement in the X direction. If it is desired to move hand 27 13 in the opposite direction, the pressure exerted on sleeve 14 14 results in the bending of blade members 15'' and 16'' and the expansion of measuring strips 5 and 8 mounted thereon. This, in 16 turn results in a change in the resistance of strips 5 and 8 to 17 the flow of electrical current therethrough, which is indicative 18 to the degree of bending of the respective blade portions. In a 19 like manner, if it is desired to move hand assembly 27 in the Y
direction, proper movement of sleeve 14 results in the bending of 21 blade members 15' and 16' and a corresponding lengthening in the 22 measuring strips 2 and 4, respectively. Likewise, if it is 23 desired to move hand assembly 27 in the opposite Y direction, an 24 operator need only grasp and press sleeve 14, resulting in the bending of blade members 15''' and 16''' as well as the 26 lengthening of mea~uring strips 1 and 3, respectively.
27 If movement in the Z direction is desired, sleeve 14 is 28 pushed upwardly as shown in Figure 2, whereby bolt 18 is caused to 29 press against and deform blade member 17, resulting in the expansion of measuring strip 9 and the change of a reference 31 signal flowing therethrough in a manner similar to the operation 32 of strips 108. If, on the other hand, sleeve 14 is pulled 33 downwardly, bolt 18 will abut and bend blade member 17' causing an 34 X expansion of measuring strip 10 mounted thereon.
.
~3~
01 As a result of the positioning of measuring strips 1-10, 02 it is possible to detect linear movement of sleeve 14 along each 03 of the axes X, Y and Z, respectively. It is, of course, evident 04 that linear movement between the various axes can also be detected 05 through the expansion of a combination of the various measuring 06 ætrips. For example, movement in the direction of the arrow 28 as 07 shown in Figure 3 will result in the expansion of the particular 08 measuring strips 1, 3, 6 and 7, respectively, which will generate 09 specific output signals which can be used to establish a program for actuating the drive motors to result in hand 27 moving in the 11 direction of arrow 28.
12 The rotary motion dy about the Y axis is achieved by 13 grasping and turning sleeve 14 whereby blades 16 and 15''' are 14 bent, causing an expansion of the measuring strips 6 and 8, respectively. In a like manner, rotary movement in the direction 16 opposite to dy results in the expansion of measuring strips 5 and 17 7, respectively. For rotary movement dx about the X axis, the 18 measuring strips 1 and 4 are caused to expand, while rotation in 19 the counter dx direction results in the expansion of measuring strips 2 and 3, respectively.
21 Finally, in the case of rotary movement dz about the Z
22 axis, bolt 19 engages and bends blade member 20', causing 23 expansion of measuring strip 12 mounted thereon. In a like 24 manner, rotation in the counter dz direction, results in bolt 19 engaging and bending blade member 20, resulting in the expansion 26 of measuring strip 11 mounted thereon. Naturally, an intermixing 27 of the various rotary movements is possible, as well as an inter-28 mixing of the rotary and linear movements discussed hereabove.
29 In the preferred embodiment of the present invention described hereabove, each of the measuring strips 1-12 functions 31 as a passive transducer having a variable resistance to the flow 32 of electrical current, which resistance is dependent upon the 33 degree of expansion cf the particular measuring strip. During 34 ~ operation, a predetermined or referenced current is supplied ~404~;
01 through the various measuring strips, with the change in 02 resistance causing a corresponding change in the reference 03 current. It is also possible to utilize transducers which detect 04 the change in inductance and/or capacitance rather than measuring 05 the change in resistance as employed in measuring strips 1-12. If 06 inductive transducers are employed, each of the transducers is 07 mounted on a blade member and is attached to a capacitor, whereby 08 deformation of the blade results in a corresponding change in the 09 inductivity of the transducer mounted thereon. Such inductive transducers are also considered to be passive, in that, a 11 reference signal must be initially provided through the various 12 transducers. It i8 also possible to replace the passive 13 transducers disclosed hereabove with active transducers which are ,~1 14 capable of generating electrical signals as a direct result of the electrical and magnetlc properties inherent in the materials 16 forming the transducer strips themselves.
17 In a further embodiment of the present invention, each 18 pair of parallel extending, oppositely disposed measuring strips 19 can be replaced by a single measuring strip which is capable of generating a first signal indicative of the expansion of the 21 measuring strip and a second, further signal indicative of the 22 compression of the measuring strip. As a result, the expanding 23 measuring strips 1-8 which become operative in pairs to detect the 24 rotary movements about the X and Y axes, respectively, can be replaced by two measuring strips arranged at substantially right 26 angles to one another, with the measuring strips providing 27 variable changes in the resistance to the flow of electrical 28 current depending upon the particular direction of rotation of the 29 sleeve 14. In other words, a change in the resistance of the measuring strip to rotation in the dx direction would differ from 31 the change in resistance of the strip to rotation in the counter 32 dx direction.
33 In a further embodiment of the present invention, it 34 is possible to substitute a plurality of switches for the ''. ,~
.
~ li3~
01 expanding measuring strips 1-12, whereby the switches generate 02 positive or negative signals indicative of the various movements 03 of the apparatus 23. However, data producers such as the 04 expanding measuring strips 1-12 are preferable in their ability to 05 measure the magnitude of the various forces acting on sleeve 14 06 and center portion 13, whereby the magnitude of the relevant force 07 applied to the hand assembly 27 can be measured and converted into 08 a control program for operating the various drive motors to 09 manipulate instrument assembly 22.
The following table lists the various movements which an 11 operator may perform on sleeve 14 and attached center portion 13, 12 resulting in the corresponding movement of attached arm 27. The 13 table also indicates which measuring strips will be expanded as a 14 result of the various movementZ~ of the apparatus 23.
A further embodiment of the present invention is 16 disclosed in Figure 5, wherein a sleeve 14 surrounds and is 17 relatively movable with respect to a center portion 13 rigidly 18 connected to hand member 27c. Sleeve 14 is provided with two 19 first stops 28 and two second stops 29, wherein stops 28 adjoin without play a ball 30 and stops 29 adjoin a ball 31. Ball 30 i8 21 supported by a first spring member 32 which, in turn, is clamped 22 to center portion 13 at a point generally designated 34. Ball 31 23 is likewise supported by a second spring member 33 which includes 24 an end portion clamped to center portion 13 at a point 35. The ball-carrying end portions of springs 32 and 33 point in opposite 26 directions, as shown in Figure 5. In addition a pair of 27 inductive-type data producers 40 and 41 are mounted on opposite 'c~
28 sides of spring 32, while a pair of inductive-type data producers 29 42 and 43 are mounted on opposite sides of spring 33, respectively. Each pair of oppositely disposed data producers 40, 31 41 and 42, 43 receives an electrical current. If a force is 32 exerted on sleeve 14 in the direction of the X axis, springs 32 33 and 33 will be deformed towards transducers 40 and 42, causing 34 these transducers to be detuned by identical values in one ''~
1~3~0~L
01 direction with the remaining transducers 41 and 43 being detuned 02 by identical values in the opposite direction. Likewise, if a 03 force is exerted on sleeve 14 in a direction opposite to the arrow 04 x, the transducers 41 and 43 are detuned by identical values in 05 one direction, with the remaining data producers 40 and 42 being 06 detuned by different identical values in the opposite direction.
07 When a force is applied to the sleeve 14 about the Y axis in the 08 direction dy, transducers 40 and 43 are detuned by identical 09 values in one direction, while the remaining transducers 41 and 42 are detuned in the opposite direction by identical values.
11 In a further, not illustrated system can be arranged 12 between sleeve 14 and center portion 13 for matching the 13 components 28-43, which system is offset at a substantially 90~
14 angle relative to the above-described system with elements 28-43 and which allows for the direction of forces within the Y axis to 16 cause rotation of the sleeve 14 in the direction dx. It is noted 17 that sleeve 14 is fa~tened at a point 39 to a spring 38 which 18 carries a ball positioned within a slot 37 formed in the center 19 portion 13. In addition, a pair of inductive-type transducers 44 and 45 are positioned on opposite sides oE spring 38. If a force 21 is exerted on sleeve 14 in the Z direction, transducer 45 is 22 detuned in one direction while transducer 44 is detuned in a 23 further, opposite direction. If a force is exerted in a direction 24 opposite to the Z arrow shown in Figure 5, the inductive-type transducer 45 is detuned in one direction, while the remaining 26 transducer 44 is detuned in the opposite direction. Likewise, if 27 a force is exerted in a direction opposite to the Z direction 28 shown in the arrow, the transducers 44 and 45 are also detuned in 29 the opposite direction.
A torsion rod 49 extends substantially parallel to the 31 longitudinal axis of sleeve 14, which longitudinal axis also 32 corresponds to the Z axis. Torsion rod 49 includes a first end 33 portion attached to a transducer 48 and a further, opposite end 34 portion clamped to center portion 13. Transducer 48, in turn, is 35 ~ - 15 -7~
01 attached to a folding bellows coupling 47 which engages sleeve 14, 02 with coupling 47 being capable of transferring only turning 03 forces. During operation, if sleeve 14 is caused to turn in 04 either direction about the Z axis, transducer 48 is caused to turn 05 in either direction about the Z axis, transducer 48 is detuned in 06 one of two oppositely disposed directions because transducer 48 is 07 caused to change its axial spacing from center portion 13 as 08 torsion is applied to rod 49.
09 In the embodiment disclosed in Figure 5, data producers 40-45 and 48 comprise tuned circuit elements wherein the ll inductance and capacitance of the circuit elements can be altered 12 by adjusting the physical distance between the coil springs 32, 33 13 and 38 and the respective circuit elements mounted on either side 14 thereof. The resulting change in inductance and/or capacitance results in the effective detuning of the circuit, which detuning 16 can be used as a basis for establishing a conventional program for 17 controlling the drive motors attached to the arm and hand 18 assemblies 26 and 27, respectively.
l9 The table shown below lists the various movements and indicates which of the data producers l-12 generate signals as a 21 result of these movements.
22Movement Signal generation at 23linear +X 6 and 7 24 -X 5 and 8 +Y 2 and 4 26 -Y 1 and 3 27 +Z 9 30rotary +dx 1 and 4 31 -dx 2 and 3 32 +dy 6 and 8 33 -dy 7 and 5 34 +dz 12 -dz ll 36 The present invention is not to be limited to the 37 above-described embodiments, but is to be limited only to the 38 subject matter defined in the following claims.
~r 36 ~ _ 9 _ ~3~
01 A further pair of confronting blade members 20 and 20' 02 are also mounted on center portion 13 as shown in Figure 2. In 03 particular, each of the blade members 20 and 20' extends along 04 the contour of center portion 13 in a direction substantially 05 transverse to the longitudinal axis Z, with the free end portions 06 of blade members 20 and 20' facing one another and with a pair of 07 expandable wire measuring strips 11 and 12 mounted on the blades 08 20 and 20', respectively. Finally, a bolt 19 is fixedly attached 09 to sleeve 14 with an end portion of bolt 19 snugly engaging a pair of recesses formed in free end portions of blades 20 and 20', 11 respectively. Finally, duct 21 extends longitudinally through 12 the interior of center portion 13 housing one or more electrical 13 wires extending therethrough. As is well-known in the prior art, 14 electrical current can be sent through each of the measuring strips 1-12, with the resistance of each strip to the flow of 16 electrical current being directly related to the deformation of 17 the particular strip. This means that a predetermined reference 18 signal can be sent through the electrical wires extending through 19 duct 21, with the reference signal passing through the expanding measuring strips 1-12 attached thereto. If a particular 21 mea~uring strip is caused to expand due to the deformation of a 22 particular blade member attached thereto, resistance of the 23 measuring strip to the flow of electrical current will vary in 24 accordance therewith. As a result, the particular input reference signal will also be altered in a manner directly 26 corresponding to the degree of expansion encountered by the 27 measuring strips.
28 The altered output from the deformed measuring strips 29 can be fed into a conventional computer assembly capable of interpreting the change in signal level and establishing a 31 control program which can be used for driving the various 32 electrical motors employed to move arm and hand assemblies 26 and 33 27, respectively. The preparation and execution of the control ,'. X
' 01 program makes up no part oP the present invention and is 02 therefore not described in detail herein.
03 The operation of the present invention will now be 04 described with reference to Figures 2-4 in particular. If it is 05 desired to have hand assembly 27 move along the X axis, an 06 operator need merely grasp and move sleeve 14 in the direction of 07 the arrow x, which results in the bending of the particular blade 08 members 15 and 16 and the lengthening of the measuring strips 6 09 and 7 mounted thereon. As a result, resistance of the strips 6 and 7 to the predetermined reference signal extending therethrough 11 will be altered, thus providing an output signal indicative of 12 of movement in the X direction. If it is desired to move hand 27 13 in the opposite direction, the pressure exerted on sleeve 14 14 results in the bending of blade members 15'' and 16'' and the expansion of measuring strips 5 and 8 mounted thereon. This, in 16 turn results in a change in the resistance of strips 5 and 8 to 17 the flow of electrical current therethrough, which is indicative 18 to the degree of bending of the respective blade portions. In a 19 like manner, if it is desired to move hand assembly 27 in the Y
direction, proper movement of sleeve 14 results in the bending of 21 blade members 15' and 16' and a corresponding lengthening in the 22 measuring strips 2 and 4, respectively. Likewise, if it is 23 desired to move hand assembly 27 in the opposite Y direction, an 24 operator need only grasp and press sleeve 14, resulting in the bending of blade members 15''' and 16''' as well as the 26 lengthening of mea~uring strips 1 and 3, respectively.
27 If movement in the Z direction is desired, sleeve 14 is 28 pushed upwardly as shown in Figure 2, whereby bolt 18 is caused to 29 press against and deform blade member 17, resulting in the expansion of measuring strip 9 and the change of a reference 31 signal flowing therethrough in a manner similar to the operation 32 of strips 108. If, on the other hand, sleeve 14 is pulled 33 downwardly, bolt 18 will abut and bend blade member 17' causing an 34 X expansion of measuring strip 10 mounted thereon.
.
~3~
01 As a result of the positioning of measuring strips 1-10, 02 it is possible to detect linear movement of sleeve 14 along each 03 of the axes X, Y and Z, respectively. It is, of course, evident 04 that linear movement between the various axes can also be detected 05 through the expansion of a combination of the various measuring 06 ætrips. For example, movement in the direction of the arrow 28 as 07 shown in Figure 3 will result in the expansion of the particular 08 measuring strips 1, 3, 6 and 7, respectively, which will generate 09 specific output signals which can be used to establish a program for actuating the drive motors to result in hand 27 moving in the 11 direction of arrow 28.
12 The rotary motion dy about the Y axis is achieved by 13 grasping and turning sleeve 14 whereby blades 16 and 15''' are 14 bent, causing an expansion of the measuring strips 6 and 8, respectively. In a like manner, rotary movement in the direction 16 opposite to dy results in the expansion of measuring strips 5 and 17 7, respectively. For rotary movement dx about the X axis, the 18 measuring strips 1 and 4 are caused to expand, while rotation in 19 the counter dx direction results in the expansion of measuring strips 2 and 3, respectively.
21 Finally, in the case of rotary movement dz about the Z
22 axis, bolt 19 engages and bends blade member 20', causing 23 expansion of measuring strip 12 mounted thereon. In a like 24 manner, rotation in the counter dz direction, results in bolt 19 engaging and bending blade member 20, resulting in the expansion 26 of measuring strip 11 mounted thereon. Naturally, an intermixing 27 of the various rotary movements is possible, as well as an inter-28 mixing of the rotary and linear movements discussed hereabove.
29 In the preferred embodiment of the present invention described hereabove, each of the measuring strips 1-12 functions 31 as a passive transducer having a variable resistance to the flow 32 of electrical current, which resistance is dependent upon the 33 degree of expansion cf the particular measuring strip. During 34 ~ operation, a predetermined or referenced current is supplied ~404~;
01 through the various measuring strips, with the change in 02 resistance causing a corresponding change in the reference 03 current. It is also possible to utilize transducers which detect 04 the change in inductance and/or capacitance rather than measuring 05 the change in resistance as employed in measuring strips 1-12. If 06 inductive transducers are employed, each of the transducers is 07 mounted on a blade member and is attached to a capacitor, whereby 08 deformation of the blade results in a corresponding change in the 09 inductivity of the transducer mounted thereon. Such inductive transducers are also considered to be passive, in that, a 11 reference signal must be initially provided through the various 12 transducers. It i8 also possible to replace the passive 13 transducers disclosed hereabove with active transducers which are ,~1 14 capable of generating electrical signals as a direct result of the electrical and magnetlc properties inherent in the materials 16 forming the transducer strips themselves.
17 In a further embodiment of the present invention, each 18 pair of parallel extending, oppositely disposed measuring strips 19 can be replaced by a single measuring strip which is capable of generating a first signal indicative of the expansion of the 21 measuring strip and a second, further signal indicative of the 22 compression of the measuring strip. As a result, the expanding 23 measuring strips 1-8 which become operative in pairs to detect the 24 rotary movements about the X and Y axes, respectively, can be replaced by two measuring strips arranged at substantially right 26 angles to one another, with the measuring strips providing 27 variable changes in the resistance to the flow of electrical 28 current depending upon the particular direction of rotation of the 29 sleeve 14. In other words, a change in the resistance of the measuring strip to rotation in the dx direction would differ from 31 the change in resistance of the strip to rotation in the counter 32 dx direction.
33 In a further embodiment of the present invention, it 34 is possible to substitute a plurality of switches for the ''. ,~
.
~ li3~
01 expanding measuring strips 1-12, whereby the switches generate 02 positive or negative signals indicative of the various movements 03 of the apparatus 23. However, data producers such as the 04 expanding measuring strips 1-12 are preferable in their ability to 05 measure the magnitude of the various forces acting on sleeve 14 06 and center portion 13, whereby the magnitude of the relevant force 07 applied to the hand assembly 27 can be measured and converted into 08 a control program for operating the various drive motors to 09 manipulate instrument assembly 22.
The following table lists the various movements which an 11 operator may perform on sleeve 14 and attached center portion 13, 12 resulting in the corresponding movement of attached arm 27. The 13 table also indicates which measuring strips will be expanded as a 14 result of the various movementZ~ of the apparatus 23.
A further embodiment of the present invention is 16 disclosed in Figure 5, wherein a sleeve 14 surrounds and is 17 relatively movable with respect to a center portion 13 rigidly 18 connected to hand member 27c. Sleeve 14 is provided with two 19 first stops 28 and two second stops 29, wherein stops 28 adjoin without play a ball 30 and stops 29 adjoin a ball 31. Ball 30 i8 21 supported by a first spring member 32 which, in turn, is clamped 22 to center portion 13 at a point generally designated 34. Ball 31 23 is likewise supported by a second spring member 33 which includes 24 an end portion clamped to center portion 13 at a point 35. The ball-carrying end portions of springs 32 and 33 point in opposite 26 directions, as shown in Figure 5. In addition a pair of 27 inductive-type data producers 40 and 41 are mounted on opposite 'c~
28 sides of spring 32, while a pair of inductive-type data producers 29 42 and 43 are mounted on opposite sides of spring 33, respectively. Each pair of oppositely disposed data producers 40, 31 41 and 42, 43 receives an electrical current. If a force is 32 exerted on sleeve 14 in the direction of the X axis, springs 32 33 and 33 will be deformed towards transducers 40 and 42, causing 34 these transducers to be detuned by identical values in one ''~
1~3~0~L
01 direction with the remaining transducers 41 and 43 being detuned 02 by identical values in the opposite direction. Likewise, if a 03 force is exerted on sleeve 14 in a direction opposite to the arrow 04 x, the transducers 41 and 43 are detuned by identical values in 05 one direction, with the remaining data producers 40 and 42 being 06 detuned by different identical values in the opposite direction.
07 When a force is applied to the sleeve 14 about the Y axis in the 08 direction dy, transducers 40 and 43 are detuned by identical 09 values in one direction, while the remaining transducers 41 and 42 are detuned in the opposite direction by identical values.
11 In a further, not illustrated system can be arranged 12 between sleeve 14 and center portion 13 for matching the 13 components 28-43, which system is offset at a substantially 90~
14 angle relative to the above-described system with elements 28-43 and which allows for the direction of forces within the Y axis to 16 cause rotation of the sleeve 14 in the direction dx. It is noted 17 that sleeve 14 is fa~tened at a point 39 to a spring 38 which 18 carries a ball positioned within a slot 37 formed in the center 19 portion 13. In addition, a pair of inductive-type transducers 44 and 45 are positioned on opposite sides oE spring 38. If a force 21 is exerted on sleeve 14 in the Z direction, transducer 45 is 22 detuned in one direction while transducer 44 is detuned in a 23 further, opposite direction. If a force is exerted in a direction 24 opposite to the Z arrow shown in Figure 5, the inductive-type transducer 45 is detuned in one direction, while the remaining 26 transducer 44 is detuned in the opposite direction. Likewise, if 27 a force is exerted in a direction opposite to the Z direction 28 shown in the arrow, the transducers 44 and 45 are also detuned in 29 the opposite direction.
A torsion rod 49 extends substantially parallel to the 31 longitudinal axis of sleeve 14, which longitudinal axis also 32 corresponds to the Z axis. Torsion rod 49 includes a first end 33 portion attached to a transducer 48 and a further, opposite end 34 portion clamped to center portion 13. Transducer 48, in turn, is 35 ~ - 15 -7~
01 attached to a folding bellows coupling 47 which engages sleeve 14, 02 with coupling 47 being capable of transferring only turning 03 forces. During operation, if sleeve 14 is caused to turn in 04 either direction about the Z axis, transducer 48 is caused to turn 05 in either direction about the Z axis, transducer 48 is detuned in 06 one of two oppositely disposed directions because transducer 48 is 07 caused to change its axial spacing from center portion 13 as 08 torsion is applied to rod 49.
09 In the embodiment disclosed in Figure 5, data producers 40-45 and 48 comprise tuned circuit elements wherein the ll inductance and capacitance of the circuit elements can be altered 12 by adjusting the physical distance between the coil springs 32, 33 13 and 38 and the respective circuit elements mounted on either side 14 thereof. The resulting change in inductance and/or capacitance results in the effective detuning of the circuit, which detuning 16 can be used as a basis for establishing a conventional program for 17 controlling the drive motors attached to the arm and hand 18 assemblies 26 and 27, respectively.
l9 The table shown below lists the various movements and indicates which of the data producers l-12 generate signals as a 21 result of these movements.
22Movement Signal generation at 23linear +X 6 and 7 24 -X 5 and 8 +Y 2 and 4 26 -Y 1 and 3 27 +Z 9 30rotary +dx 1 and 4 31 -dx 2 and 3 32 +dy 6 and 8 33 -dy 7 and 5 34 +dz 12 -dz ll 36 The present invention is not to be limited to the 37 above-described embodiments, but is to be limited only to the 38 subject matter defined in the following claims.
Claims (40)
1. An apparatus for precisely recording a sequence of movements of a motor driven manipulating instrument along mutually perpendicular axes, for programming said manipulating instrument to repeat said sequence of movements, and comprising:
(a) a manually operated handle assembly including a center part surrounded by a hollow sleeve, said center part being rigidly attached to said instrument for joint movement therewith;
(b) a plurality of flexible coupling means extending between and joined to both said center part of said surrounding hollow sleeve to allow limited movement of said sleeve relative to said center part along said mutually perpendicular axes; and (c) a plurality of data transducer means mounted on said handle assembly between said center part and said surrounding hollow sleeve for providing electric signals indicating the magnitude and direction of any forces causing movement of said sleeve relative to said center part, whereby said signals can be employed to create a playback program for directing said instrument to repeatedly perform the same sequence of movements.
(a) a manually operated handle assembly including a center part surrounded by a hollow sleeve, said center part being rigidly attached to said instrument for joint movement therewith;
(b) a plurality of flexible coupling means extending between and joined to both said center part of said surrounding hollow sleeve to allow limited movement of said sleeve relative to said center part along said mutually perpendicular axes; and (c) a plurality of data transducer means mounted on said handle assembly between said center part and said surrounding hollow sleeve for providing electric signals indicating the magnitude and direction of any forces causing movement of said sleeve relative to said center part, whereby said signals can be employed to create a playback program for directing said instrument to repeatedly perform the same sequence of movements.
2. Apparatus as defined in claim 1, with the character-istic that, in order to program two axes extending perpendicularly to each other, there is provided for each axis at least one pair of data transducer means with the data transducer means arranged at the center part and offset by 90° relative to each other, and where opposed data transducer means each form pairs of data transducers for responding to forces acting transversely to the axis extending longitudinally through the center part.
3. Apparatus as defined in claim 1, with the characteristics that, in order to program two axes extending perpendicularly to each other, there is provided for each axis at least one pair of data transducer means for each of the axes Y, wherein the data transducer means of one of the pairs are arranged about the center part and are offset 180° relative to each other to respond to forces acting transversely to the axis extending longitudinally through the center part, and that the data transducer means of the other pair are also arranged along the longitudinal axis through the center part for responding to forces along the longitudinal axis.
4. Apparatus as defined in claim 2 or 3, with the characteristics that, in order to program three axes (X,Y,Z) extending perpendicularly to each other, there is provided for each axis at least one pair of data transducer means wherein the data transducer means of two pairs are arranged about the center part and are offset 90° relative to each other and that the data transducer means of the third pair are arranged along the longitudinal axis of the center part, and where oppositely disposed data transducer means of the first two pairs each form one pair to respond to forces acting transversely to the longitudinal axis of the center part, and where the two data transducer means of the third pair are positioned for responding to forces acting in the direction of the longitudinal axis of said center part.
5. Apparatus as defined in claim 2, with each pair of data transducer means replaced by a single transducer assembly capable of generating a first signal in the case of compression stress and a second, different signal in the case of tensile stress.
6. Apparatus as defined in claim 1, with the characteristic that, in order to program rotary movements within an axis extending transversely to the longitudinal axis of the center part, there is provided at least one first pair of data transducer means arranged at one end of the center part and offset by 180° relative to each other, to respond to rotary movements about said axis, extending transversely to the longitudinal axis of said center part.
7. Apparatus as defined in claim 6, with the characteristic that there is provided a second pair of data transducer means symmetrically arranged with respect to said first pair of data transducer means.
8. Apparatus as defined in claim 6, with the characteristics that, in order to program rotary movements about two axes (X,Y) which are perpendicular to each other and extend transversely to the longitudinal axis of the center part, there is provided an additional pair of data transducer means offset by 180° relative to each other and by 90° relative to said first pair of data transducer means and arranged at opposite longitudinal ends of the center part, wherein a combination of said first pair and said additional pair of data transducer means are positioned for responding to rotary movements about the associated axis (X and Y).
9. Apparatus as defined in claim 1, with the characteristic that there is provided a fourth pair of data transducer means symmetrically arranged with respect to said additional pair of data transducer means.
10. Apparatus as defined in claim 1, with the characteristic that, in order to program rotary movements about an axis extending parallel to the longitudinal axis of the center part, there is provided a further pair of data transducer means arranged along the circumferential surface of the center part for responding to rotary movement about said axis (Z).
11. Apparatus as defined in claim 6 or 10, with the characteristic that each pair of data transducer means are each replaced by single data transducer means capable of generating a first signal in the case of compression stress which differs from a further signal generated in the case of tensile stress.
12. Apparatus as defined in claim 7 or 9, with the characteristic that each of two pairs of data transducer means extending along the pair of perpendicular X and Y axes are replaced by single data transducer means which is arranged at the center part within the respective axis of rotation and generates in the case of a rotary movement of said sleeve in one direction a signal that differs from a further signal generated in the case of rotary movement of said sleeve in the opposite direction.
13. Apparatus as defined in claims 7 or 9, with the characteristic that the data transducer means producers are arranged at the center part and are offset 90° relative to each other.
14. Apparatus as defined in claim 1, with the characteristic that the data transducer means are mounted on a plurality of separate elastic blades which extend between end portions of the center part, and corresponding end portions of the surrounding sleeve member.
15. Apparatus as defined in claim 14, with the characteristic that the data transducer means comprises a plurality of expanding strain gages.
16. Apparatus as defined in claim 1, with the characteristics that, in order to program two axes (X,Y) extending perpendicularly to each other as well as extending perpendicular to said longitudinal axis of said center part there is provided at least one data transducer means for each perpendicularly extending axis with each data transducer means arranged at the center part and offset 90° relative to each other, for responding to forces acting transversely to the longitudinal axis of the center part.
17. Apparatus as defined in claim 16, with the characteristics that, in order to program two axes (X,Y) including the longitudinal axis of said center part and a further axis extending perpendicularly thereto, wherein each axis is provided with at least one data transducer means, with each data transducer means arranged at the center part and offset 90°
relative to each other, wherein one of the data transducer means is positioned for responding to forces acting along a further axis transversely to the longitudinal axis of the center part and the other data transducer means is positioned for responding to forces parallel to said longitudinal axis (Z).
relative to each other, wherein one of the data transducer means is positioned for responding to forces acting along a further axis transversely to the longitudinal axis of the center part and the other data transducer means is positioned for responding to forces parallel to said longitudinal axis (Z).
18. Apparatus as defined in claim 16 or 17, with the characteristics that, in order to program three separate axes (X,Y,Z) extending mutually perpendicularly to each other, there is provided for each axis at least one pair of data transducer means arranged at the center part, wherein each pair of data transducer means is offset 90° relative to each other, and where two of the data transducer means are positioned for responding to forces acting transversely to the longitudinal axis of the center part and the third data transducer means is positioned for responding to forces acting parallel to said longitudinal axis.
19. Apparatus as defined in claim 16, with the characteristic that each of the pairs of data transducer means is replaced with one data transducer means capable of generating a first signal in the case of a compression stress and a further different signal in the case of a tensile stress.
20. Apparatus as defined in claim 1, with the characteristics that, in order to program rotary movements within an axis extending transversely to the longitudinal axis (Z) of the center part, there is provided at least one first pair of data transducer means each arranged at an opposite end of the center part and offset 180° relative to each other for responding to rotary movements about said axis (Y).
21. Apparatus as defined in claim 20, with the characteristic that there is provided a second pair of data transducer means symmetrically arranged with respect to said first pair of data transducer means.
22. Apparatus as defined in claims 20 or 21, with the characteristics that, in order to program rotary movements about two axes (X,Y) which run perpendicularly to each other and transversely to the longitudinal axis of the center part, there is provided an additional pair of data transducer means arranged at the center part and offset 180° relative to each other and further offset 90° relative to the first pair of data transducer means, with each pair of data transducer means positioned for responding to rotary movements about one of said perpendicularly extending axes.
23. Apparatus as defined claims 20 or 21, with the characteristics that, in order to program rotary movements about two axes (X,Y) which run perpendicularly to each other and transversely to the longitudinal axis of the center part, there is provided an additional pair of data transducer means arranged at the center part and offset 180° relative to each other and further offset 90° relative to the first pair of data transducer means, with each pair of data transducer means positioned for responding to rotary movements about one of said perpendicularly extending axes, and further including a fourth pair of data transducer means symmetrically arranged with respect to said additional pair of data transducer means.
24. Apparatus as defined in claim 1, with the characteristic that, in order to program rotary movements about an axis which extends parallel to the longitudinal axis of the center part, there is provided a data transducer means positioned for responding to rotary movements about said longitudinal axis (Z).
25. Apparatus as defined in one of the claims 20 or 21, or 24, with the characteristic that the pairs of data transducer means are each replaced by a single data transducer means capable of generating a first signal in the case of a compression stress and a second, different signal in the case of a tensile stress.
26. Apparatus as defined in one of the claims 16 or 17 or 19 or 20 or 21 or 24, with the characteristic that the data transducer means are adjacently disposed to a plurality of springs extending between the sleeve and the center part.
27. Apparatus as defined in claim 16 or 17, with the characteristics that there is fastened to the center part a first spring, having an end portion resting between two first stops attached to the sleeve, and that there is fastened to the center part a second spring having an end resting between two second stops of the sleeve, said second stops offset by 90° relative to the first stops.
28. Apparatus as defined in claim 16 or 17, with the characteristics that, in order to program three separate axes (X,Y,Z) extending mutually perpendicularly to each other, there is provided for each axis at least one pair of data transducer means arranged at the center part, wherein each pair of data transducer means is offset 90° relative to each other, and where two of the data transducer means are positioned for responding to forces acting transversely to the longitudinal axis of the center part and the third data transducer means is positioned for responding to forces acting parallel to said longitudinal axis, and further including a third spring fastened to the sleeve, having an end engaging a slot formed in the center part.
29. Apparatus as defined in claims 20 or 21, with the characteristics that, in order to program rotary movements about two axes (X,Y) which run perpendicularly to each other and transversely to the longitudinal axis of the center part, there is provided an additional pair of data transducer means arranged at the center part and offset 180° relative to each other and further offset 90° relative to the first pair of data transducer means, with each pair of data transducer means positioned for responding to rotary movements about one of said perpendicularly extending axes, and two additional springs which extend toward the first and second spring, respectively, and are offset 180°
relative to each other.
relative to each other.
30. Apparatus as defined in claim 24, with the characteristic that the data transducer means is arranged between a torsion rod having an end clamped to the center part, and a separate pivoting coupling communicating with the sleeve.
31. In an apparatus as defined in claim 1, a plurality of separate flexible blades extending between and attached to said center part and said surrounding sleeve.
32. In an apparatus according to claim 31, wherein a plurality of said flexible blades extend between each end portion of said outer sleeve and a confronting end portion of said center part, with said flexible blades extending substantially parallel to a longitudinal axis passing through said center part and said flexible blades offset substantially 90° as measured about a circumference of said cylindrically-shaped center part.
33. In an apparatus according to claim 32, wherein said data transducer means comprises a plurality of transducer wire strips each mounted on a separate flexible blade, wherein respective flexible blades and the respective transducer wires mounted thereon deform in response to movement of said sleeve relative to said center part, with the deformed transducer wires providing a change in resistance to the flow of electric current therethrough which is directly proportional to the amount of deformation.
34. In an apparatus according to claim 33, wherein a pair of flexible blades extend circumferentially about the contour of said center part and include free ends disposed adjacent to one another, with a bolt attached to said sleeve member having an end portion engaging a pair of recesses formed in the free end portions of said circumferentially extending blades and a separate transducer wire strip mounted on each circumferentially extending blade.
35. In an apparatus according to claim 33, wherein a pair of flexible blade members are attached to surface portions of said center part positioned substantially half-way between opposite end portions of said center part, with said further pair of flexible blades arranged in end to end relationship extending in a direction parallel to the longitudinal axis of said center part, said apparatus further including a bolt attached to said sleeve and having an end portion engaging confronting free end portions of said further pair of longitudinally extending flexible blades, with a separate transducer wire strip mounted on each blade for generating a change in resistance to the flow of electric current in response to deformation of an attached blade.
36. In an apparatus as defined in claim 1, a plurality of stop members attached to said outer sleeve and directed toward said center part, at least one ball located between confronting surfaces of a pair of said stop members and at least one spring having a portion rigidly attached to said center part and having a further portion engaging said at least one ball, and data transducer means mounted on opposite sides of said spring between said center part and said surrounding sleeve for determining the magnitude and direction of forces causing movement of said sleeve relative to said center part.
37. In an apparatus according to claim 36, wherein a plurality of balls are each located between confronting surfaces of separate pairs of stop members, and a plurality of springs each including a portion rigidly attached to said center part and a further portion engaging one of said plurality of balls.
38. In an appartus according to claim 37, wherein at least one of said springs extends in a direction substantially parallel to an axis extending longitudinally through said center part and at least one of said springs extends in a direction substantially perpendicular to said longitudinal axis extending through said center part.
39. In an apparatus according to claim 36, wherein a transducer assembly, a torsion rod and a folding bellows are aligned end to end between said center part and said outer sleeve, with said transducer assembly including an end attached to said center part and a further end attached to an end of said torsion rod, said torsion rod includes a further end attached to an end of said folding bellows and said folding bellows is rigidly attached to said outer sleeve, whereby rotation of said outer sleeve in either direction causes torsion to be applied to said torsion rod, causing said attached transducer assembly to be axially displaced relative to said center part, resulting in said transducer being detuned in one of two directions.
40. Apparatus as defined in claim 2 or 3, with the characteristic that, in order to program three axes extending perpendicular to each other, there is provided for each axis a single transducer assembly, wherein two data transducer assemblies are arranged about the center part and are offset 90°
relative to each other and that the third data transducer assembly is arranged along the longitudinal axis of the center part, and where the first two transducer assemblies are oppositely disposed are adapted to respond to forces acting transversely to the longitudinal axis of the center part, and the third transducer assembly is positioned for responding to forces acting in the direction of the longitudinal axis of the center part, each transducer assembly being capable of generating a first signal in the case of compression stress and a second differential signal in the case of tensile stress.
relative to each other and that the third data transducer assembly is arranged along the longitudinal axis of the center part, and where the first two transducer assemblies are oppositely disposed are adapted to respond to forces acting transversely to the longitudinal axis of the center part, and the third transducer assembly is positioned for responding to forces acting in the direction of the longitudinal axis of the center part, each transducer assembly being capable of generating a first signal in the case of compression stress and a second differential signal in the case of tensile stress.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DEP2841284.2 | 1978-09-22 | ||
| DE7828226U DE7828226U1 (en) | 1978-09-22 | 1978-09-22 | Device for programming a handling device |
| DE2841284A DE2841284C2 (en) | 1978-09-22 | 1978-09-22 | Device for programming a handling device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA1139404A true CA1139404A (en) | 1983-01-11 |
Family
ID=25775802
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA000335986A Expired CA1139404A (en) | 1978-09-22 | 1979-09-20 | Apparatus for detecting forces directing the movement of a manipulating instrument |
Country Status (10)
| Country | Link |
|---|---|
| US (1) | USRE31581E (en) |
| JP (1) | JPS5547521A (en) |
| AT (1) | AT365503B (en) |
| CA (1) | CA1139404A (en) |
| CH (1) | CH639310A5 (en) |
| DE (2) | DE7828226U1 (en) |
| FR (1) | FR2436655A1 (en) |
| GB (1) | GB2036376B (en) |
| NL (1) | NL189595C (en) |
| SE (1) | SE443530B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016123697A1 (en) * | 2015-02-02 | 2016-08-11 | The University Of Western Ontario | Navigation by bending forces |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4283764A (en) * | 1979-10-12 | 1981-08-11 | Nordson Corporation | Manually programmable robot with power-assisted motion during programming |
| JPS5878205A (en) * | 1981-11-02 | 1983-05-11 | Kobe Steel Ltd | Teaching method for industrial robot |
| DE3211992A1 (en) * | 1982-03-31 | 1983-10-06 | Wagner Gmbh J | Method and device for programming a robot, in particular paint spraying robot |
| JPS5914484A (en) * | 1982-07-09 | 1984-01-25 | 株式会社日立製作所 | Direct teaching device for robot |
| DE3372942D1 (en) * | 1982-09-25 | 1987-09-17 | Fujitsu Ltd | A multi-articulated robot |
| DE3240251A1 (en) * | 1982-10-30 | 1984-05-03 | Deutsche Forschungs- und Versuchsanstalt für Luft- und Raumfahrt e.V., 5000 Köln | METHOD FOR PROGRAMMING MOVEMENTS AND, IF REQUIRED, MACHINING FORCES OR -MOMENTS OF A ROBOT OR MANIPULATOR AND DEVICE FOR CARRYING OUT THIS |
| EP0117334A3 (en) * | 1982-11-09 | 1986-01-15 | EMI Limited | Arrangement for sensing several components of force |
| JPS59108691A (en) * | 1982-12-13 | 1984-06-23 | 株式会社日立製作所 | Control system of balancer |
| JPS59124589A (en) * | 1982-12-28 | 1984-07-18 | 株式会社東芝 | Industrial robot |
| JP2650889B2 (en) * | 1983-04-28 | 1997-09-10 | 株式会社日立製作所 | Articulated robot teaching method |
| DE8434357U1 (en) * | 1984-11-23 | 1985-04-04 | Richter, Hans, 8900 Augsburg | GRIPPER HAND AT A MANIPULATOR |
| GB2174216B (en) * | 1985-03-19 | 1988-10-26 | Mitutoyo Mfg Co Ltd | Method of operating a coordinate measuring instrument |
| DE3526958A1 (en) * | 1985-07-27 | 1985-12-19 | Daimler-Benz Ag, 7000 Stuttgart | Enamelling robot which can be programmed by the teach-in method |
| JP2728392B2 (en) * | 1986-06-11 | 1998-03-18 | 株式会社日立製作所 | Handle control device |
| US4982611A (en) * | 1988-05-24 | 1991-01-08 | Wisconsin Alumni Research Foundation | Multiple-degree-of-freedom sensor tip for a robotic gripper |
| US5010773A (en) * | 1990-01-24 | 1991-04-30 | Wisconsin Alumni Research Foundation | Sensor tip for a robotic gripper and method of manufacture |
| DE9001451U1 (en) * | 1990-02-08 | 1991-06-06 | Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg | Programming aid for a multi-axis manipulator |
| DE69223854T2 (en) * | 1991-06-14 | 1998-05-20 | Honeywell Inc | Proportional mode - manual control with force feedback |
| CA2522097C (en) | 2003-04-28 | 2012-09-25 | Stephen James Crampton | Cmm arm with exoskeleton |
| WO2010038779A1 (en) | 2008-09-30 | 2010-04-08 | 高周波熱錬株式会社 | Welding device for metal and welding method for metal |
| CN104647357A (en) * | 2015-01-09 | 2015-05-27 | 广西大学 | Four-degree-of-freedom stepper motor driving joint-type manipulator |
| DE102015214170A1 (en) * | 2015-07-27 | 2017-02-02 | Kuka Roboter Gmbh | Robot with a force measuring device |
| DE102015117213B4 (en) * | 2015-10-08 | 2020-10-29 | Kastanienbaum GmbH | Robotic arm |
| JP7420543B2 (en) * | 2019-12-13 | 2024-01-23 | 川崎重工業株式会社 | remote control device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US344766A (en) * | 1886-06-29 | Grate | ||
| FR1038409A (en) * | 1951-06-14 | 1953-09-28 | M Le Secretaire D Etat Aux For | Dynamometric handle for aerodyne piloting stick |
| US3434342A (en) * | 1965-12-06 | 1969-03-25 | Lear Siegler Inc | Force sensing apparatus |
| US3493906A (en) * | 1969-02-19 | 1970-02-03 | Lear Siegler Inc | Control wheel force sensor |
| US3648143A (en) * | 1969-08-25 | 1972-03-07 | Harper Associates Inc | Automatic work-repeating mechanism |
| US3676818A (en) * | 1971-05-10 | 1972-07-11 | Sperry Rand Corp | Control stick transducer |
| US3835702A (en) * | 1973-09-13 | 1974-09-17 | Us Air Force | Multi-axis bio-mechanical force measuring device |
| US3951271A (en) * | 1974-05-03 | 1976-04-20 | Mette Klaus Hermann | Robot control device |
| US3939704A (en) * | 1974-08-07 | 1976-02-24 | The Bendix Corporation | Multi-axis load cell |
| FR2311630A1 (en) * | 1975-05-23 | 1976-12-17 | Kobe Steel Ltd | LEARNING PROCESS AND APPARATUS FOR INDUSTRIAL ROBOTS |
| SE416452B (en) * | 1975-06-16 | 1981-01-05 | Asea Ab | INDUSTRIAL ROBOT |
| DE2731041C3 (en) * | 1976-07-09 | 1981-04-02 | Régie Nationale des Usines Renault, Boulogne-Billancourt, Hauts-de-Seine | Programming device for a program-controlled paint manipulator |
| CA1080828A (en) * | 1976-07-26 | 1980-07-01 | Bendix Corporation (The) | Method and apparatus for generating position or path control programs using force feedback |
| FR2369055A1 (en) * | 1976-10-29 | 1978-05-26 | Creusot Loire | DIS |
| CA1121888A (en) * | 1977-04-30 | 1982-04-13 | Junichi Ikeda | Industrial robot |
| US4283764A (en) * | 1979-10-12 | 1981-08-11 | Nordson Corporation | Manually programmable robot with power-assisted motion during programming |
-
1978
- 1978-09-22 DE DE7828226U patent/DE7828226U1/en not_active Expired
- 1978-09-22 DE DE2841284A patent/DE2841284C2/en not_active Expired
-
1979
- 1979-09-13 CH CH827479A patent/CH639310A5/en not_active IP Right Cessation
- 1979-09-13 NL NLAANVRAGE7906827,A patent/NL189595C/en not_active IP Right Cessation
- 1979-09-17 AT AT0608979A patent/AT365503B/en not_active IP Right Cessation
- 1979-09-18 FR FR7923186A patent/FR2436655A1/en active Granted
- 1979-09-19 SE SE7907758A patent/SE443530B/en unknown
- 1979-09-20 CA CA000335986A patent/CA1139404A/en not_active Expired
- 1979-09-21 GB GB7932914A patent/GB2036376B/en not_active Expired
- 1979-09-21 JP JP12090779A patent/JPS5547521A/en active Granted
-
1982
- 1982-08-06 US US06/405,779 patent/USRE31581E/en not_active Expired - Lifetime
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016123697A1 (en) * | 2015-02-02 | 2016-08-11 | The University Of Western Ontario | Navigation by bending forces |
| US10499995B2 (en) | 2015-02-02 | 2019-12-10 | Louis FERREIRA | Navigation by bending forces |
Also Published As
| Publication number | Publication date |
|---|---|
| USRE31581E (en) | 1984-05-08 |
| JPS5547521A (en) | 1980-04-04 |
| DE2841284A1 (en) | 1980-04-03 |
| CH639310A5 (en) | 1983-11-15 |
| NL7906827A (en) | 1980-03-25 |
| GB2036376B (en) | 1982-12-15 |
| FR2436655B1 (en) | 1984-07-20 |
| GB2036376A (en) | 1980-06-25 |
| JPS6411430B2 (en) | 1989-02-23 |
| DE2841284C2 (en) | 1982-04-15 |
| AT365503B (en) | 1982-01-25 |
| SE7907758L (en) | 1980-03-23 |
| ATA608979A (en) | 1981-06-15 |
| NL189595C (en) | 1993-06-01 |
| FR2436655A1 (en) | 1980-04-18 |
| SE443530B (en) | 1986-03-03 |
| NL189595B (en) | 1993-01-04 |
| DE7828226U1 (en) | 1987-01-02 |
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