FR2395496A1 - Dispositif dynamometrique - Google Patents

Dispositif dynamometrique

Info

Publication number
FR2395496A1
FR2395496A1 FR7818438A FR7818438A FR2395496A1 FR 2395496 A1 FR2395496 A1 FR 2395496A1 FR 7818438 A FR7818438 A FR 7818438A FR 7818438 A FR7818438 A FR 7818438A FR 2395496 A1 FR2395496 A1 FR 2395496A1
Authority
FR
France
Prior art keywords
deformable
plate
dynamometric device
load
base plate
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.)
Granted
Application number
FR7818438A
Other languages
English (en)
Other versions
FR2395496B1 (fr
Inventor
Lothar Schmieder
August Vilgertshofer
Florian Mettin
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.)
Deutsches Zentrum fuer Luft und Raumfahrt eV
Original Assignee
Deutsche Forschungs und Versuchsanstalt fuer Luft und Raumfahrt eV DFVLR
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 Deutsche Forschungs und Versuchsanstalt fuer Luft und Raumfahrt eV DFVLR filed Critical Deutsche Forschungs und Versuchsanstalt fuer Luft und Raumfahrt eV DFVLR
Publication of FR2395496A1 publication Critical patent/FR2395496A1/fr
Application granted granted Critical
Publication of FR2395496B1 publication Critical patent/FR2395496B1/fr
Granted legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/26—Movable or adjustable work or tool supports characterised by constructional features relating to the co-operation of relatively movable members; Means for preventing relative movement of such members
    • B23Q1/34—Relative movement obtained by use of deformable elements, e.g. piezoelectric, magnetostrictive, elastic or thermally-dilatable elements
    • 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
    • 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

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)

Abstract

a. Dispositif dynamométrique. b. Dispositif dynamométrique comportant des jauges de contrainte, des détecteurs de déplacement ou analogues pour mesurer des déformations, une plaque de base et une plaque de support de charge, ces deux plaques étant reliées l'une à l'autre par des appuis déformables, caractérisé en ce que la plaque de charge est reliée invariablement à la plaque de base, au moyen d'une pièce intermédiaire, par au moins trois rayons déformables situés dans un même plan et s'étendant parallèlement à ladite plaque et par au moins trois appuis déformables disposés perpendiculairement à ceux-ci, de sorte que les forces et les couples de rotation appliqués sont mesurés simplement en mesurant la flexion des corps déformables. c. Concerne plus particulièrement les manipulateurs mécaniques.
FR7818438A 1977-06-21 1978-06-20 Dispositif dynamometrique Granted FR2395496A1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE2727704A DE2727704C3 (de) 1977-06-21 1977-06-21 Kraft-Drehmoment-Fühler

Publications (2)

Publication Number Publication Date
FR2395496A1 true FR2395496A1 (fr) 1979-01-19
FR2395496B1 FR2395496B1 (fr) 1982-08-06

Family

ID=6011908

Family Applications (1)

Application Number Title Priority Date Filing Date
FR7818438A Granted FR2395496A1 (fr) 1977-06-21 1978-06-20 Dispositif dynamometrique

Country Status (5)

Country Link
US (1) US4178799A (fr)
JP (1) JPS5918645B2 (fr)
CH (1) CH628433A5 (fr)
DE (1) DE2727704C3 (fr)
FR (1) FR2395496A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2593603A1 (fr) * 1986-01-30 1987-07-31 Principia Rech Developpe Balance dynamometrique
FR2614101A1 (fr) * 1987-04-16 1988-10-21 Univ Clermont Ferrand Ii Capteur d'efforts destine a la mesure des six composantes d'un torseur
FR2631118A1 (fr) * 1988-05-03 1989-11-10 Onera (Off Nat Aerospatiale) Dispositif capteur d'effort a six composantes, notamment pour la robotique

Families Citing this family (45)

* Cited by examiner, † Cited by third party
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JPS5546039Y2 (fr) * 1974-07-18 1980-10-28
JPS5116073U (fr) * 1974-07-22 1976-02-05
DE3240251A1 (de) * 1982-10-30 1984-05-03 Deutsche Forschungs- und Versuchsanstalt für Luft- und Raumfahrt e.V., 5000 Köln Verfahren zum programmieren von bewegungen und erforderlichenfalls von bearbeitungskraeften bzw. -momenten eines roboters oder manipulators und einrichtung zu dessen durchfuehrung
EP0117334A3 (fr) * 1982-11-09 1986-01-15 EMI Limited Dispositif sensible à plusieurs composantes de force
DE3406059A1 (de) * 1983-07-27 1985-02-07 Siemens AG, 1000 Berlin und 8000 München Mehrkomponentenkraft- und -momentenmesskoerper mit dehnungsmessstreifen
JPS6062497A (ja) * 1983-09-14 1985-04-10 畑村　洋太郎 多軸力センサ
JPS60102536A (ja) * 1983-11-09 1985-06-06 Mitsubishi Heavy Ind Ltd 軸荷重計測用天秤
FR2563138B1 (fr) * 1984-04-20 1986-08-08 Framatome Sa Dispositif pour l'etalonnage d'une machine-outil
US4573362A (en) * 1984-07-09 1986-03-04 Eaton Corporation Multi-axis load transducer
DE3504954A1 (de) * 1985-02-13 1986-09-04 Lothar Dipl.-Phys. Dr. 8031 Gilching Schmieder Programmierbarer manipulator
US4667520A (en) * 1985-05-16 1987-05-26 Orthotronics Limited Partnership Dynamometer arrangement
FR2589238B1 (fr) * 1985-10-25 1987-11-20 Commissariat Energie Atomique Capteur de mesure d'efforts et de couples et applications d'un tel capteur a un palpeur et a un dispositif de prehension
US5222400A (en) * 1985-12-18 1993-06-29 Spaceball Technologies Incorporated Force and torque converter
US5591924A (en) * 1985-12-18 1997-01-07 Spacetec Imc Corporation Force and torque converter
US4811608A (en) * 1985-12-18 1989-03-14 Spatial Systems Pty Limited Force and torque converter
US5706027A (en) * 1985-12-18 1998-01-06 Spacetec Imc Corporation Force and torque converter for use in a computer input device
CA1279678C (fr) * 1986-02-18 1991-01-29 James P. Karlen Robot industriel avec dispositif d'asservissement
US4973215A (en) * 1986-02-18 1990-11-27 Robotics Research Corporation Industrial robot with servo
DE3611336A1 (de) * 1986-04-04 1987-10-15 Deutsche Forsch Luft Raumfahrt Kraft-drehmoment-fuehler
SE458965B (sv) * 1987-10-13 1989-05-22 Sandvik Ab Kraftgivare foer en verkygsmaskin jaemte en metod att avkaenna krafter som uppstaar vid bearbetning av ett arbetsstycke i en verktygsmaskin
DD272250A1 (de) * 1988-05-19 1989-10-04 Adw Ddr Kybernetik Inf Mehrfingergreifer zur erfassung der greifkraft sowie raeumlicher reaktionskraefte und -momente
US5452615A (en) * 1989-10-25 1995-09-26 Spacetec Imc Corporation Force and torque converter
FR2671873A1 (fr) * 1991-01-22 1992-07-24 Philips Electronique Lab Detecteur de forces et ecran tactile.
DE4332137C1 (de) * 1993-09-17 1995-03-09 Georg Wazau Dr Ing Reaktionsdrehmomentaufnehmer mit einem Translationsfreiheitsgrad
US5798748A (en) * 1995-06-07 1998-08-25 Spacetec Imc Corporation Force and torque converter with improved digital optical sensing circuitry
DE19947733B4 (de) * 1999-10-05 2004-04-29 3Dconnexion Gmbh Einrichtung zum Erfassen und Auswerten von Kenndaten an einem Fahrzeugsitz sowie diesbezügliche Auswerteverfahren
DE10012983C2 (de) * 2000-03-16 2002-01-31 Helmut Kulisch Kraft-Momenten-Sensor
DE10143489C2 (de) 2001-09-05 2003-07-17 Deutsch Zentr Luft & Raumfahrt Anordnung zum Erfassen von Relativbewegungen zweier Objekte
DE10158777B4 (de) 2001-11-30 2004-05-06 3Dconnexion Gmbh Anordnung zum Erfassen von Relativbewegungen oder Relativpositionen zweier Objekte
DE10158776B4 (de) * 2001-11-30 2004-05-13 3Dconnexion Gmbh Anordnung zum Erfassen von Relativbewegungen oder Relativpositionen zweier Objekte
DE10158775B4 (de) 2001-11-30 2004-05-06 3Dconnexion Gmbh Anordnung zum Erfassen von Relativbewegungen oder Relativpositionen zweier Objekte
DE10225418A1 (de) 2002-06-07 2004-01-08 3Dconnexion Gmbh Meßvorrichtung zum Messen von Positionen oder Bewegungen
WO2006039448A2 (fr) * 2004-09-29 2006-04-13 University Of Florida Dynamometre base sur la flexion pour la determination d'effort de coupe
DE102004051565B4 (de) * 2004-10-22 2014-06-26 Société Civile "Galileo 2011" Optoelektronische Anordnung zum Erfassen von Relativbewegungen oder Relativpositionen zweier Objekte sowie Kraft- und/oder Momentsensor, Pan/Zoom-Sensor und PC-Tastatur mit einer derartigen Anordnung
DE102004063975B4 (de) 2004-10-22 2018-05-30 Société Civile "Galileo 2011" Optoelektronische Anordnung zum Erfassen von Relativbewegungen oder Relativpositionen zweier Objekte
WO2007096322A2 (fr) * 2006-02-23 2007-08-30 Abb Ab Systeme de commande de la position et de l'orientation d'un objet en fonction de forces et de couples reçus d'un utilisateur
DE102011008582A1 (de) * 2011-01-14 2012-07-19 Leopold Kostal Gmbh & Co. Kg Torsionsmodul
CN102692292B (zh) * 2011-03-23 2015-01-07 海洋王照明科技股份有限公司 螺口灯座扭力测试装置及扭力测试方法
DE102013017007B4 (de) 2013-10-14 2015-09-10 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Roboter mit einem Endmanipulatorarm mit Endeffektor sowie Verfahren zur Bestimmung eines Kraft- und Drehmomenteintrages auf einen Endeffektor eines Roboters
US10067019B2 (en) * 2016-01-25 2018-09-04 Ati Industrial Automation, Inc. Force and torque sensor having redundant instrumentation and operative to detect faults
JP2017172983A (ja) * 2016-03-18 2017-09-28 株式会社安川電機 ロボット及びトルクセンサ
JP6654334B2 (ja) * 2016-10-07 2020-02-26 株式会社エー・アンド・デイ 計測装置
JP6501746B2 (ja) 2016-10-07 2019-04-17 キヤノン株式会社 変位測定装置、ロボット、ロボットアーム及び物品の製造方法
WO2018094454A1 (fr) * 2016-11-24 2018-05-31 The University Of Queensland Dispositif de détection de force
AT520901B1 (de) 2018-01-24 2019-11-15 Avl List Gmbh Messvorrichtung und Verfahren zur Bestimmung einer Kraft und/oder eines Drehmoments an einer drehmomentübertragenden Welle

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3628394A (en) * 1970-02-09 1971-12-21 Sperry Rand Corp Operator-manipulative control apparatus
FR2124790A5 (fr) * 1971-01-28 1972-09-22 Gerresheim Manfred
US3693425A (en) * 1970-04-30 1972-09-26 Joseph M Starita Force measuring apparatus
DE2529796A1 (de) * 1974-08-07 1976-02-19 Bendix Corp Mehrachsige kraftmessdose
FR2316589A1 (fr) * 1975-06-30 1977-01-28 Ibm Transducteur de force pour manipulateur

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US3216245A (en) * 1963-07-22 1965-11-09 Toledo Scale Corp Load cell
US3618376A (en) * 1969-12-19 1971-11-09 Chrysler Corp Multiaxial load cell
US3696317A (en) * 1970-08-19 1972-10-03 Waukesha Bearings Corp Low capacity, low profile load cell
US3968676A (en) * 1975-03-24 1976-07-13 Ormond Alfred N Mechanical equalization of strain gauge sensitivity

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3628394A (en) * 1970-02-09 1971-12-21 Sperry Rand Corp Operator-manipulative control apparatus
US3693425A (en) * 1970-04-30 1972-09-26 Joseph M Starita Force measuring apparatus
FR2124790A5 (fr) * 1971-01-28 1972-09-22 Gerresheim Manfred
DE2529796A1 (de) * 1974-08-07 1976-02-19 Bendix Corp Mehrachsige kraftmessdose
FR2281560A1 (fr) * 1974-08-07 1976-03-05 Bendix Corp Detecteur de charge a plusieurs dimensions
FR2316589A1 (fr) * 1975-06-30 1977-01-28 Ibm Transducteur de force pour manipulateur

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2593603A1 (fr) * 1986-01-30 1987-07-31 Principia Rech Developpe Balance dynamometrique
FR2614101A1 (fr) * 1987-04-16 1988-10-21 Univ Clermont Ferrand Ii Capteur d'efforts destine a la mesure des six composantes d'un torseur
FR2631118A1 (fr) * 1988-05-03 1989-11-10 Onera (Off Nat Aerospatiale) Dispositif capteur d'effort a six composantes, notamment pour la robotique

Also Published As

Publication number Publication date
FR2395496B1 (fr) 1982-08-06
CH628433A5 (de) 1982-02-26
JPS548569A (en) 1979-01-22
DE2727704B2 (de) 1979-06-13
US4178799A (en) 1979-12-18
DE2727704C3 (de) 1982-12-09
DE2727704A1 (de) 1979-01-11
JPS5918645B2 (ja) 1984-04-28

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Legal Events

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