DE3405168A1 - Tactile sensor carrier for elastomechanical structures - Google Patents

Tactile sensor carrier for elastomechanical structures

Info

Publication number
DE3405168A1
DE3405168A1 DE19843405168 DE3405168A DE3405168A1 DE 3405168 A1 DE3405168 A1 DE 3405168A1 DE 19843405168 DE19843405168 DE 19843405168 DE 3405168 A DE3405168 A DE 3405168A DE 3405168 A1 DE3405168 A1 DE 3405168A1
Authority
DE
Germany
Prior art keywords
sensor carrier
elastomechanical
structures
tactile sensor
constructed
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.)
Withdrawn
Application number
DE19843405168
Other languages
German (de)
Inventor
Klaus Dipl Ing Dr Kehl
Werner Prof Dr Schiehlen
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
MT Aerospace AG
Original Assignee
MAN SE
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by MAN SE filed Critical MAN SE
Priority to DE19843405168 priority Critical patent/DE3405168A1/en
Publication of DE3405168A1 publication Critical patent/DE3405168A1/en
Application status is Withdrawn legal-status Critical

Links

Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01LMEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00Apparatus for, or methods of, measuring force, e.g. due to impact, work, mechanical power, or torque, adapted for special purposes
    • G01L5/22Apparatus for, or methods of, measuring force, e.g. due to impact, work, mechanical power, or torque, adapted for special purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
    • G01L5/226Apparatus for, or methods of, measuring force, e.g. due to impact, work, mechanical power, or torque, adapted for special purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to manipulators, e.g. the force due to gripping
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00Controls for manipulators
    • B25J13/08Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085Force or torque sensors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00Arms
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00Arms
    • B25J18/002Arms comprising beam bending compensation means
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01LMEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00Apparatus for, or methods of, measuring force, e.g. due to impact, work, mechanical power, or torque, adapted for special purposes
    • G01L5/16Apparatus for, or methods of, measuring force, e.g. due to impact, work, mechanical power, or torque, adapted for special purposes for measuring several components of force
    • G01L5/161Apparatus for, or methods of, measuring force, e.g. due to impact, work, mechanical power, or torque, adapted for special purposes for measuring several components of force using variations in ohmic resistance

Abstract

In order to determine forces and moments acting on a fixed point (18') of a moving structural element (14'), a sensor carrier (10') is proposed which is constructed from a thin-walled, elastic tube (10') on the circumference of which strain gauges (12') are mounted. In the case of application in industrial robots and the like, the gripper arm is directly constructed as a sensor tube. <IMAGE>
DE19843405168 1984-02-14 1984-02-14 Tactile sensor carrier for elastomechanical structures Withdrawn DE3405168A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE19843405168 DE3405168A1 (en) 1984-02-14 1984-02-14 Tactile sensor carrier for elastomechanical structures

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE19843405168 DE3405168A1 (en) 1984-02-14 1984-02-14 Tactile sensor carrier for elastomechanical structures

Publications (1)

Publication Number Publication Date
DE3405168A1 true DE3405168A1 (en) 1985-08-22

Family

ID=6227647

Family Applications (1)

Application Number Title Priority Date Filing Date
DE19843405168 Withdrawn DE3405168A1 (en) 1984-02-14 1984-02-14 Tactile sensor carrier for elastomechanical structures

Country Status (1)

Country Link
DE (1) DE3405168A1 (en)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0209400A2 (en) * 1985-07-19 1987-01-21 Richard L. Jenkins Six-axis joystick control
WO1989008537A1 (en) * 1988-03-09 1989-09-21 Sri International Articulatable structure with adjustable end-point compliance
DE4316817A1 (en) * 1993-05-19 1994-11-24 Dewitta Spezialmaschf A method for monitoring operation of a transmission and means for its implementation of the dynamic load and / or wear state
WO2007120329A3 (en) * 2005-12-30 2008-01-17 Intuitive Surgical Inc Modular force sensor
WO2009103423A1 (en) * 2008-02-21 2009-08-27 Otto Bock Healthcare Products Gmbh Pipe-shaped sensor device
US7752920B2 (en) 2005-12-30 2010-07-13 Intuitive Surgical Operations, Inc. Modular force sensor
FR2997617A1 (en) * 2012-11-08 2014-05-09 Tural Location device for locating position of to-be treated part of patient during computer assisted surgery, has holding unit whose size along direction perpendicular to vertical plane is less than size along another direction
CN104858892A (en) * 2015-06-11 2015-08-26 佛山市南海区广工大数控装备协同创新研究院 Modularized robot based on intelligent mechanical arm

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3064221A (en) * 1960-01-12 1962-11-13 Thiokol Chemical Corp Force gages using strain-sensing wire elements and methods of making force gages
DE2826131A1 (en) * 1977-07-05 1979-01-25 Bendix Corp Multiaxial measured dose
DE2926131A1 (en) * 1978-06-28 1980-01-10 Markku Kauppi A method for arc welding, and in return usable welding rod
CH623260A5 (en) * 1976-10-25 1981-05-29 Stoeferle Theodor

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3064221A (en) * 1960-01-12 1962-11-13 Thiokol Chemical Corp Force gages using strain-sensing wire elements and methods of making force gages
CH623260A5 (en) * 1976-10-25 1981-05-29 Stoeferle Theodor
DE2826131A1 (en) * 1977-07-05 1979-01-25 Bendix Corp Multiaxial measured dose
DE2926131A1 (en) * 1978-06-28 1980-01-10 Markku Kauppi A method for arc welding, and in return usable welding rod

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
GB-Z: Sov. Inventions Illustrated, SU-R1, Week Y3312/1976, S.17 *
US-Z: Instruments, Vol.24, 5/1951, S.542 *

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0209400A2 (en) * 1985-07-19 1987-01-21 Richard L. Jenkins Six-axis joystick control
EP0209400A3 (en) * 1985-07-19 1988-04-06 Richard L. Jenkins Six-axis joystick control
US4876524A (en) * 1985-07-19 1989-10-24 Jenkins Richard L Six-axis joystick control
WO1989008537A1 (en) * 1988-03-09 1989-09-21 Sri International Articulatable structure with adjustable end-point compliance
US4921393A (en) * 1988-03-09 1990-05-01 Sri International Articulatable structure with adjustable end-point compliance
DE4316817A1 (en) * 1993-05-19 1994-11-24 Dewitta Spezialmaschf A method for monitoring operation of a transmission and means for its implementation of the dynamic load and / or wear state
EP2289455A3 (en) * 2005-12-30 2016-04-06 Intuitive Surgical Operations, Inc. Modular force sensor
WO2007120329A3 (en) * 2005-12-30 2008-01-17 Intuitive Surgical Inc Modular force sensor
US7752920B2 (en) 2005-12-30 2010-07-13 Intuitive Surgical Operations, Inc. Modular force sensor
US8281670B2 (en) 2005-12-30 2012-10-09 Intuitive Surgical Operations, Inc. Modular force sensor
US8474329B2 (en) 2008-02-21 2013-07-02 Otto Bock Healthcare Products Gmbh Pipe-shaped sensor device
WO2009103423A1 (en) * 2008-02-21 2009-08-27 Otto Bock Healthcare Products Gmbh Pipe-shaped sensor device
FR2997617A1 (en) * 2012-11-08 2014-05-09 Tural Location device for locating position of to-be treated part of patient during computer assisted surgery, has holding unit whose size along direction perpendicular to vertical plane is less than size along another direction
CN104858892A (en) * 2015-06-11 2015-08-26 佛山市南海区广工大数控装备协同创新研究院 Modularized robot based on intelligent mechanical arm

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Legal Events

Date Code Title Description
OM8 Search report available as to paragraph 43 lit. 1 sentence 1 patent law
8127 New person/name/address of the applicant

Owner name: M A N TECHNOLOGIE GMBH, 8000 MUENCHEN, DE

8127 New person/name/address of the applicant

Owner name: MAN TECHNOLOGIE AG, 8000 MUENCHEN, DE

8110 Request for examination paragraph 44
8130 Withdrawal