DE3668702D1 - Kraft- und torsionsmessvorrichtung und ihre anwendung an einer fuehler- oder greifeinrichtung. - Google Patents

Kraft- und torsionsmessvorrichtung und ihre anwendung an einer fuehler- oder greifeinrichtung.

Info

Publication number
DE3668702D1
DE3668702D1 DE8686402335T DE3668702T DE3668702D1 DE 3668702 D1 DE3668702 D1 DE 3668702D1 DE 8686402335 T DE8686402335 T DE 8686402335T DE 3668702 T DE3668702 T DE 3668702T DE 3668702 D1 DE3668702 D1 DE 3668702D1
Authority
DE
Germany
Prior art keywords
sensor
force
application
measuring device
torsion measuring
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 - Lifetime
Application number
DE8686402335T
Other languages
English (en)
Inventor
Dominique Lestelle
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.)
Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
Original Assignee
Commissariat a lEnergie Atomique CEA
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 Commissariat a lEnergie Atomique CEA filed Critical Commissariat a lEnergie Atomique CEA
Application granted granted Critical
Publication of DE3668702D1 publication Critical patent/DE3668702D1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
    • G01L5/226—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
    • G01L5/161—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance
    • G01L5/1627—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance of strain gauges

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
DE8686402335T 1985-10-25 1986-10-17 Kraft- und torsionsmessvorrichtung und ihre anwendung an einer fuehler- oder greifeinrichtung. Expired - Lifetime DE3668702D1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR8515886A FR2589238B1 (fr) 1985-10-25 1985-10-25 Capteur de mesure d'efforts et de couples et applications d'un tel capteur a un palpeur et a un dispositif de prehension

Publications (1)

Publication Number Publication Date
DE3668702D1 true DE3668702D1 (de) 1990-03-08

Family

ID=9324207

Family Applications (1)

Application Number Title Priority Date Filing Date
DE8686402335T Expired - Lifetime DE3668702D1 (de) 1985-10-25 1986-10-17 Kraft- und torsionsmessvorrichtung und ihre anwendung an einer fuehler- oder greifeinrichtung.

Country Status (5)

Country Link
US (1) US4706506A (de)
EP (1) EP0222652B1 (de)
JP (1) JPS62102129A (de)
DE (1) DE3668702D1 (de)
FR (1) FR2589238B1 (de)

Families Citing this family (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4899576A (en) * 1987-08-24 1990-02-13 Haake-Fisons Instruments, Inc. Method for testing repeatability of a rheologic system
US6293585B1 (en) 1999-07-12 2001-09-25 Gagetek Technologies Holdings Company Torsional sensing load cell
US6499360B1 (en) * 2001-05-22 2002-12-31 Gagetek Technologies Holdings Company Torsional sensing load cell with overload protection
KR100473782B1 (ko) * 2002-05-20 2005-03-08 삼성탈레스 주식회사 유한 회전축의 교차 관성모멘트 측정장치 및 그 방법
DE10304019A1 (de) * 2003-02-01 2004-11-04 Kuka Roboter Gmbh Verfahren zum Überwachen einer Maschine und derartige Maschine, insbesondere Roboter
US7788984B2 (en) 2003-12-04 2010-09-07 Mts Systems Corporation Platform balance
US20060191355A1 (en) * 2003-12-04 2006-08-31 Mts Systems Corporation Platform balance
JP5520048B2 (ja) 2006-11-13 2014-06-11 レイセオン カンパニー 蛇行型ロボット式無限軌道車
EP2086821B1 (de) 2006-11-13 2010-07-14 Raytheon Sarcos LLC Vielseitig verwendbares endlosband für leichte mobile roboter
EP2476604B1 (de) 2006-11-13 2013-08-21 Raytheon Company Raupenroboter mit Kette und beweglichem Arm
WO2008073203A2 (en) 2006-11-13 2008-06-19 Raytheon Sarcos Llc Conformable track assembly for a robotic crawler
CZ302109B6 (cs) * 2006-12-04 2010-10-20 CVUT v Praze - Fakulta strojní CENTRUM AUTOMOBILU A SPALOVACÍCH MOTORU JOSEFA BOŽKA II Multiaxiální variabilní silový snímac
US8002716B2 (en) 2007-05-07 2011-08-23 Raytheon Company Method for manufacturing a complex structure
CN101784435B (zh) 2007-07-10 2013-08-28 雷神萨科斯公司 模块化机器人履带车
US8392036B2 (en) 2009-01-08 2013-03-05 Raytheon Company Point and go navigation system and method
EP2440448B1 (de) 2009-06-11 2015-09-30 Sarcos LC Amphibischer raupenroboter
WO2010144813A1 (en) 2009-06-11 2010-12-16 Raytheon Sarcos, Llc Method and system for deploying a surveillance network
US8393422B1 (en) 2012-05-25 2013-03-12 Raytheon Company Serpentine robotic crawler
US9031698B2 (en) 2012-10-31 2015-05-12 Sarcos Lc Serpentine robotic crawler
US10591373B2 (en) 2013-08-01 2020-03-17 Mts Systems Corporation Load transducer having a biasing assembly
US9778122B2 (en) 2013-08-01 2017-10-03 Mts Systems Corporation Two-axis sensor body for a load transducer
US9409292B2 (en) 2013-09-13 2016-08-09 Sarcos Lc Serpentine robotic crawler for performing dexterous operations
US9566711B2 (en) 2014-03-04 2017-02-14 Sarcos Lc Coordinated robotic control
DE102015215099B3 (de) * 2015-08-07 2016-12-08 Dr. Doll Holding Gmbh Kraft-Moment-Sensor sowie Dehnmessstreifen-System und Platinenanordnung für einen derartigen Kraft-Moment-Sensor
CN109514589B (zh) * 2018-12-11 2021-12-17 上海应用技术大学 一种测力式机器人末端装置
CN112061769B (zh) * 2020-09-18 2022-04-15 合肥伊丰电子封装有限公司 一种多轴向换位调节用夹取装置

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3434342A (en) * 1965-12-06 1969-03-25 Lear Siegler Inc Force sensing apparatus
US3561263A (en) * 1968-08-08 1971-02-09 Task Corp Force and moment dynamometer
DE2727704C3 (de) * 1977-06-21 1982-12-09 Deutsche Forschungs- und Versuchsanstalt für Luft- und Raumfahrt e.V., 5000 Köln Kraft-Drehmoment-Fühler
US4367532A (en) * 1979-10-12 1983-01-04 Nordson Corporation Manually programmable robot with power-assisted motion during programming
US4478089A (en) * 1982-06-29 1984-10-23 International Business Machines Corporation Tri-axial force transducer for a manipulator gripper
US4520679A (en) * 1982-10-06 1985-06-04 Yotaro Hatamura Load converter

Also Published As

Publication number Publication date
JPS62102129A (ja) 1987-05-12
US4706506A (en) 1987-11-17
FR2589238B1 (fr) 1987-11-20
EP0222652A1 (de) 1987-05-20
FR2589238A1 (fr) 1987-04-30
EP0222652B1 (de) 1990-01-31

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Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee