FR2396965A1 - Jauge de contraintes a axes multiples et organes flexibles incurves - Google Patents

Jauge de contraintes a axes multiples et organes flexibles incurves

Info

Publication number
FR2396965A1
FR2396965A1 FR7817516A FR7817516A FR2396965A1 FR 2396965 A1 FR2396965 A1 FR 2396965A1 FR 7817516 A FR7817516 A FR 7817516A FR 7817516 A FR7817516 A FR 7817516A FR 2396965 A1 FR2396965 A1 FR 2396965A1
Authority
FR
France
Prior art keywords
axis
hub
curved flexible
housing
stress gauge
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
FR7817516A
Other languages
English (en)
Other versions
FR2396965B1 (fr
Inventor
James J Edmond
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.)
Bendix Corp
Original Assignee
Bendix Corp
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 Bendix Corp filed Critical Bendix Corp
Publication of FR2396965A1 publication Critical patent/FR2396965A1/fr
Application granted granted Critical
Publication of FR2396965B1 publication Critical patent/FR2396965B1/fr
Granted 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
    • G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
    • G01L5/164—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 inductance
    • 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

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)
  • Measurement Of Force In General (AREA)

Abstract

Jauge de contraintes à axes multiples destinée à mesurer des forces et des moments dans 3 directions orthogonales. Jauge de contraintes compremant un moyeu, un boîtier et une pluralité de segments flexibles incurvés connectés entre le boîtier et le moyeu et destinés à recevoir les forces et les moments appliqués à l'un de ces éléments et à les transmettre à l'autre, deux jeux de transducteurs étant prévus pour mesurer les trois déplacements angulaires et les trois déplacements de translation du moyeu, avec un jeu disposé en roue à chevilles autour d'un axe central du moyeu et l'autre jeu disposé parallèlement à cet axe en des emplacements également espacés autour de celui-ci. Jauge applicable à un ensemble de bras de robot.
FR7817516A 1977-07-05 1978-06-12 Jauge de contraintes a axes multiples et organes flexibles incurves Granted FR2396965A1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US05/812,966 US4099409A (en) 1977-07-05 1977-07-05 Multi-axis load cell with arcuate flexures

Publications (2)

Publication Number Publication Date
FR2396965A1 true FR2396965A1 (fr) 1979-02-02
FR2396965B1 FR2396965B1 (fr) 1982-05-28

Family

ID=25211103

Family Applications (1)

Application Number Title Priority Date Filing Date
FR7817516A Granted FR2396965A1 (fr) 1977-07-05 1978-06-12 Jauge de contraintes a axes multiples et organes flexibles incurves

Country Status (8)

Country Link
US (1) US4099409A (fr)
JP (1) JPS5414782A (fr)
AU (1) AU515622B2 (fr)
CA (1) CA1093343A (fr)
DE (1) DE2826131A1 (fr)
FR (1) FR2396965A1 (fr)
GB (1) GB1587009A (fr)
IT (1) IT1097100B (fr)

Families Citing this family (35)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2451807A1 (fr) * 1979-03-22 1980-10-17 Renault Manipulateur six axes
US4259863A (en) * 1979-12-03 1981-04-07 General Motors Corporation Multi-axis load cell
IT1129409B (it) * 1980-03-07 1986-06-04 Fiat Ricerche Trasduttore a sei gradi di liberta per convertire in segnali elettrici le forze ed i momenti applicati ad un organo mobile particolarmente al braccio mobile di un robot
JPS5911435B2 (ja) * 1980-12-11 1984-03-15 ファナック株式会社 工業用ロボットの安全機構
US4440031A (en) * 1981-07-31 1984-04-03 The Charles Stark Draper Laboratory Force detecting system for remote center compliance device
FR2537909B1 (fr) * 1982-12-17 1987-06-26 Centre Nat Rech Scient Dispositif mobile de liaison permettant de faire subir a un element porte des deplacements suivant plusieurs degres de liberte
DE3405168A1 (de) * 1984-02-14 1985-08-22 M.A.N. Maschinenfabrik Augsburg-Nürnberg AG, 8000 München Taktiler sensortraeger fuer elastomechanische strukturen
US4573362A (en) * 1984-07-09 1986-03-04 Eaton Corporation Multi-axis load transducer
JPH0676931B2 (ja) * 1986-01-13 1994-09-28 工業技術院長 触覚センサ
DE3606685A1 (de) * 1986-02-28 1987-09-03 Forsch Steuerungstechnik Der W Vorrichtung zur handfuehrung eines industrieroboters
US4714865A (en) * 1986-06-12 1987-12-22 Barry Wright Corporation Overload protection device
JPS6464791A (en) * 1987-09-01 1989-03-10 Mitsubishi Electric Corp Joint device for industrial robot
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
US6906700B1 (en) 1992-03-05 2005-06-14 Anascape 3D controller with vibration
US5589828A (en) * 1992-03-05 1996-12-31 Armstrong; Brad A. 6 Degrees of freedom controller with capability of tactile feedback
US6222525B1 (en) * 1992-03-05 2001-04-24 Brad A. Armstrong Image controllers with sheet connected sensors
WO1994003784A1 (fr) * 1992-07-30 1994-02-17 Arthur Kellenbach Dispositif de mesure de charge a compensation
AU696605B2 (en) * 1992-07-30 1998-09-17 Arthur Kellenbach Compensated load measuring device
US6351205B1 (en) * 1996-07-05 2002-02-26 Brad A. Armstrong Variable-conductance sensor
US8674932B2 (en) 1996-07-05 2014-03-18 Anascape, Ltd. Image controller
KR100413807B1 (ko) * 1997-02-17 2004-03-26 삼성전자주식회사 병렬형6축힘-모멘트측정장치
US6456778B2 (en) 1997-10-01 2002-09-24 Brad A. Armstrong Analog controls housed with electronic displays for video recorders and cameras
DE60232250D1 (de) * 2001-08-20 2009-06-18 Honeywell Int Inc Bogenförmige federelemente für mikro-elektromechanischen beschleunigungssensor
JP4907050B2 (ja) * 2003-03-31 2012-03-28 株式会社ワコー 力検出装置
JP4387691B2 (ja) 2003-04-28 2009-12-16 株式会社ワコー 力検出装置
US20050120809A1 (en) * 2003-12-09 2005-06-09 Ramming John E. Robotic force sensing device
US7140250B2 (en) * 2005-02-18 2006-11-28 Honeywell International Inc. MEMS teeter-totter accelerometer having reduced non-linearty
US8438938B1 (en) 2009-09-01 2013-05-14 Parkinson Technologies, Inc. Load cell
US9409298B2 (en) * 2012-04-13 2016-08-09 Rethink Robotics, Inc. Flexure elements for series elastic actuators and related methods
DE102015214170A1 (de) 2015-07-27 2017-02-02 Kuka Roboter Gmbh Roboter mit einer Kraftmesseinrichtung
US10239213B1 (en) 2015-11-24 2019-03-26 X Development Llc Flexure assembly for force/torque sensing
US10732061B2 (en) 2017-09-07 2020-08-04 X Development Llc Unibody flexure design for displacement-based force/torque sensing
US10732060B2 (en) 2018-08-15 2020-08-04 X Development Llc Force/torque sensor with hardstops to limit overloading a flexure

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2092571A (en) * 1936-09-26 1937-09-07 Gen Motors Corp Vibration damper
FR878508A (fr) * 1939-11-22 1943-01-22 Hermes Patentverwertungs Gmbh Liaison élastique
FR1560072A (fr) * 1967-03-30 1969-03-14
US3939704A (en) * 1974-08-07 1976-02-24 The Bendix Corporation Multi-axis load cell
FR2325917A1 (fr) * 1975-09-23 1977-04-22 Bendix Corp Jauge d'efforts a plusieurs axes

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1220022A (en) * 1969-03-21 1971-01-20 Lear Siegler Inc Steering element force sensor
US3879995A (en) * 1974-05-13 1975-04-29 Ford Motor Co Strain gage transducer
US4023404A (en) * 1976-05-07 1977-05-17 Lebow Associates, Inc. Force measuring apparatus

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2092571A (en) * 1936-09-26 1937-09-07 Gen Motors Corp Vibration damper
FR878508A (fr) * 1939-11-22 1943-01-22 Hermes Patentverwertungs Gmbh Liaison élastique
FR1560072A (fr) * 1967-03-30 1969-03-14
US3939704A (en) * 1974-08-07 1976-02-24 The Bendix Corporation Multi-axis load cell
FR2325917A1 (fr) * 1975-09-23 1977-04-22 Bendix Corp Jauge d'efforts a plusieurs axes

Also Published As

Publication number Publication date
AU3673878A (en) 1979-12-06
DE2826131A1 (de) 1979-01-25
FR2396965B1 (fr) 1982-05-28
US4099409A (en) 1978-07-11
IT7825060A0 (it) 1978-06-28
CA1093343A (fr) 1981-01-13
AU515622B2 (en) 1981-04-16
JPS5414782A (en) 1979-02-03
GB1587009A (en) 1981-03-25
IT1097100B (it) 1985-08-26

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Legal Events

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