DE3782898D1 - Kraft- und moment-messfuehler. - Google Patents

Kraft- und moment-messfuehler.

Info

Publication number
DE3782898D1
DE3782898D1 DE8787630197T DE3782898T DE3782898D1 DE 3782898 D1 DE3782898 D1 DE 3782898D1 DE 8787630197 T DE8787630197 T DE 8787630197T DE 3782898 T DE3782898 T DE 3782898T DE 3782898 D1 DE3782898 D1 DE 3782898D1
Authority
DE
Germany
Prior art keywords
force
moment probe
probe
moment
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 - Fee Related
Application number
DE8787630197T
Other languages
English (en)
Other versions
DE3782898T2 (de
Inventor
John E Ramming
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.)
JR 3 Inc
Original Assignee
JR 3 Inc
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 JR 3 Inc filed Critical JR 3 Inc
Publication of DE3782898D1 publication Critical patent/DE3782898D1/de
Application granted granted Critical
Publication of DE3782898T2 publication Critical patent/DE3782898T2/de
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • 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)
  • Human Computer Interaction (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
DE8787630197T 1986-09-17 1987-09-16 Kraft- und moment-messfuehler. Expired - Fee Related DE3782898T2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US90910386A 1986-09-17 1986-09-17
US07/084,878 US4823618A (en) 1986-09-17 1987-08-17 Force-moment sensors

Publications (2)

Publication Number Publication Date
DE3782898D1 true DE3782898D1 (de) 1993-01-14
DE3782898T2 DE3782898T2 (de) 1993-05-06

Family

ID=26771538

Family Applications (1)

Application Number Title Priority Date Filing Date
DE8787630197T Expired - Fee Related DE3782898T2 (de) 1986-09-17 1987-09-16 Kraft- und moment-messfuehler.

Country Status (3)

Country Link
US (1) US4823618A (de)
EP (1) EP0261071B1 (de)
DE (1) DE3782898T2 (de)

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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
US5261266A (en) * 1990-01-24 1993-11-16 Wisconsin Alumni Research Foundation Sensor tip for a robotic gripper and method of manufacture
CH682182A5 (de) * 1990-05-31 1993-07-30 Kk Holding Ag
US5142906A (en) * 1990-07-09 1992-09-01 Westinghouse Electric Corp. Apparatus for measuring valve stem loads in a motor operated valve assembly
DE9014442U1 (de) * 1990-10-18 1991-09-12 AAT Aston GmbH Geräte für Elektronikfertigung und Kabelbearbeitung, 8500 Nürnberg Vorrichtung zur Erfassung der Kraft beim Verpressen von Kabelschuhen (Krimpkraft)
DE4101732C2 (de) * 1991-01-22 1994-08-18 Kernforschungsz Karlsruhe Kraft- Momenten-Sensor
US5184861A (en) * 1991-02-15 1993-02-09 The United States Of America As Represented By The Administrator, National Aeronautics & Space Administration Split rail gripper assembly and tool driver therefor
US5315882A (en) * 1992-03-23 1994-05-31 Mts Systems Corporation Six axis load cell
US5490427A (en) * 1994-10-17 1996-02-13 Fanuc Usa Corporation Six axis force sensor employing multiple shear strain gages
US5648617A (en) * 1995-08-25 1997-07-15 Applied Robotics, Inc. Single axis robot force sensor assembly
US5969268A (en) * 1997-07-15 1999-10-19 Mts Systems Corporation Multi-axis load cell
US6038933A (en) * 1997-07-15 2000-03-21 Mts Systems Corporation Multi-axis load cell
CA2347796C (en) * 1998-10-30 2009-12-29 Vernon A. Lambson Method and apparatus for measuring torque
US6354155B1 (en) 1999-06-02 2002-03-12 Bertec Corporation Multi-component force and moment measuring platform and load transducer
US6253626B1 (en) * 1999-09-02 2001-07-03 Rs Technologies, Ltd. Three-axis transducer body and strain gage arrangement therefor
DE10013059C2 (de) * 2000-03-19 2002-01-31 Deutsch Zentr Luft & Raumfahrt Kraft-Momenten-Sensor
US6769312B2 (en) 2000-11-22 2004-08-03 Mts Systems Corporation Multi-axis load cell body
EP1342160B1 (de) * 2000-12-15 2010-06-16 Mts Systems Corporation Multi-axiale lastzelle
US6575031B2 (en) 2001-01-26 2003-06-10 Mts Systems Corporation Transducer for measuring displacement of a vehicle spindle
DE10217019C1 (de) * 2002-04-12 2003-07-03 Deutsch Zentr Luft & Raumfahrt Kraft-Moment-Sensoren
US6871552B2 (en) * 2002-04-12 2005-03-29 Deutsches Zentrum für Luft- und Raumfahrt e.V. Force moment sensor
US6792815B2 (en) * 2002-05-08 2004-09-21 The Timken Company Multiaxis ring load cell
DE20210645U1 (de) * 2002-07-09 2002-09-12 Eduard Wille GmbH & Co, 42349 Wuppertal Prüfgerät mit integrierter Signalverarbeitung
EP1733204A2 (de) * 2003-12-04 2006-12-20 Mts Systems Corporation Plattformwaage für windtunnel
US20060191355A1 (en) * 2003-12-04 2006-08-31 Mts Systems Corporation Platform balance
US7788984B2 (en) * 2003-12-04 2010-09-07 Mts Systems Corporation Platform balance
BRPI0404127B1 (pt) * 2004-09-29 2016-02-10 Petroleo Brasileiro Sa transdutor de posição a fibra óptica para válvula de controle de vazão em poços inteligentes
WO2006055588A1 (en) * 2004-11-16 2006-05-26 Mts Systems Corporation Multi-axis load cell body
US20060130595A1 (en) * 2004-11-23 2006-06-22 Mts Systems Corporation Multi axis load cell body
WO2008151317A1 (en) * 2007-06-06 2008-12-11 Tobey Wayland E Modular rotary multi-sensor sensor ring
US8414246B2 (en) 2007-06-06 2013-04-09 Cycogs, Llc Modular hybrid snake arm
US20090007696A1 (en) * 2007-07-05 2009-01-08 Nitta Corporation Strain gauge type sensor
DE102007037262B3 (de) * 2007-08-07 2008-12-04 Deutsches Zentrum für Luft- und Raumfahrt e.V. Kraft-Moment-Sensor zum Messen von mindestens drei orthogonalen Belastungen
KR101390918B1 (ko) * 2007-09-03 2014-05-07 타이코에이엠피(유) 차량용 중량감지장치
ES2338622B1 (es) * 2008-07-23 2011-07-01 Estudios De Ingenieria Adaptada, S.L. Cabezal posicionador de herramienta sobre superficies irregulares.
KR101115418B1 (ko) * 2009-11-09 2012-02-16 한국표준과학연구원 힘센서를 이용한 6축 힘센서 구조 및 그 구조에 의한 힘 및 모멘트 측정방법
US10591373B2 (en) 2013-08-01 2020-03-17 Mts Systems Corporation Load transducer having a biasing assembly
WO2015017806A2 (en) 2013-08-01 2015-02-05 Mts Systems Corporation Two-axis sensor body for a load transducer and platform balance with the same
DE102014019546B3 (de) * 2014-12-23 2016-05-04 Samson Aktiengesellschaft Federkörper für einen Kraftaufnehmer, wie Drehmoment- und/oder Zugkraft-/Druckkraftmesszelle
CN104568279B (zh) * 2014-12-30 2017-12-05 南宁宇立仪器有限公司 一种多轴力传感器
WO2016126821A1 (en) 2015-02-03 2016-08-11 Stryker Corporation Force/torque transducer and method of operating the same
CN105865670B (zh) 2015-02-09 2020-09-25 精工爱普生株式会社 力检测装置以及机器人
US9429485B1 (en) * 2015-03-12 2016-08-30 The United States Of America As Represented By The Secretary Of The Navy Bolt shear force sensor
WO2016182942A1 (en) 2015-05-08 2016-11-17 Mts Systems Corporation Multi axis load cell body
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
US9869597B1 (en) 2015-11-24 2018-01-16 X Development Llc Compound strain gage carrier for multi-axis force/torque sensing
US10239213B1 (en) 2015-11-24 2019-03-26 X Development Llc Flexure assembly for force/torque sensing
US10272720B2 (en) 2015-12-23 2019-04-30 Mts Systems Coporation Wheel support having a transducer sensor body
US10067019B2 (en) 2016-01-25 2018-09-04 Ati Industrial Automation, Inc. Force and torque sensor having redundant instrumentation and operative to detect faults
FR3052256B1 (fr) 2016-06-01 2019-04-12 Commissariat A L'energie Atomique Et Aux Energies Alternatives Capteur d'efforts resonant multidimensionnel
DE102016212407A1 (de) * 2016-07-07 2018-01-11 Kuka Systems Gmbh Sensorplatte zur Befestigung an einem Manipulator
DE102016214434B3 (de) * 2016-08-04 2018-01-11 Dr. Doll Holding Gmbh Kraft-Moment-Sensor für eine Robotikeinheit
DE102017208998A1 (de) 2016-08-22 2018-02-22 Dr. Doll Engineering Gmbh Kraft-Moment-Sensor
DE102017213667A1 (de) 2016-08-22 2018-02-22 Dr. Doll Engineering Gmbh Kraft-Moment-Sensor
JP6815903B2 (ja) 2017-03-08 2021-01-20 日本電産コパル電子株式会社 力覚センサ
JP6746517B2 (ja) 2017-03-08 2020-08-26 日本電産コパル電子株式会社 力覚センサ
JP6789853B2 (ja) * 2017-03-08 2020-11-25 日本電産コパル電子株式会社 力覚センサ
US10732061B2 (en) 2017-09-07 2020-08-04 X Development Llc Unibody flexure design for displacement-based force/torque sensing
DE102017218033B4 (de) * 2017-10-10 2019-10-31 Dr. Doll Engineering Gmbh Kraft-Moment-Sensor für eine Robotikeinheit
US10732060B2 (en) 2018-08-15 2020-08-04 X Development Llc Force/torque sensor with hardstops to limit overloading a flexure
DE102019215294B4 (de) 2019-10-04 2022-12-22 Dr. Doll Engineering Gmbh Robotik-Kraftmesseinrichtung

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US2933921A (en) * 1958-09-30 1960-04-26 Baldwin Lima Hamilton Corp Materials testing machine
US3422445A (en) * 1966-09-21 1969-01-14 Revere Corp America Load cell for measuring concentric or eccentric loads
US3492864A (en) * 1967-04-21 1970-02-03 John B Kraeling Omnidirectional force transducer measuring device
US4094192A (en) * 1976-09-20 1978-06-13 The Charles Stark Draper Laboratory, Inc. Method and apparatus for six degree of freedom force sensing
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JPS603610B2 (ja) * 1979-03-22 1985-01-29 舟久保 煕康 人工義手等における把握力ベクトル知覚素子
JPS57169643A (en) * 1981-04-13 1982-10-19 Yamato Scale Co Ltd Load cell for multiple components of force
US4398429A (en) * 1981-05-04 1983-08-16 Advanced Mechanical Technology, Inc. Force platform construction and method of operating same
JPS5894995A (ja) * 1981-12-02 1983-06-06 株式会社日立製作所 マニピユレ−タ関節軸の軸トルク検出機構
JPS58205830A (ja) * 1982-05-26 1983-11-30 Hitachi Ltd 薄型フオ−スセンサ
US4488441A (en) * 1983-04-15 1984-12-18 Jr3, Inc. Apparatus for simultaneous measurement of mutually perpendicular forces and moments
JPS59205297A (ja) * 1983-05-02 1984-11-20 オムロン株式会社 外力検出装置
JPS6093933A (ja) * 1983-10-28 1985-05-25 Fuji Electric Corp Res & Dev Ltd 荷重計
US4573362A (en) * 1984-07-09 1986-03-04 Eaton Corporation Multi-axis load transducer

Also Published As

Publication number Publication date
EP0261071B1 (de) 1992-12-02
EP0261071A2 (de) 1988-03-23
DE3782898T2 (de) 1993-05-06
US4823618A (en) 1989-04-25
EP0261071A3 (en) 1989-07-26

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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