FR2477707A1 - Transducteur a six degres de liberte pour convertir des forces et des couples en signaux electriques - Google Patents

Transducteur a six degres de liberte pour convertir des forces et des couples en signaux electriques Download PDF

Info

Publication number
FR2477707A1
FR2477707A1 FR8104560A FR8104560A FR2477707A1 FR 2477707 A1 FR2477707 A1 FR 2477707A1 FR 8104560 A FR8104560 A FR 8104560A FR 8104560 A FR8104560 A FR 8104560A FR 2477707 A1 FR2477707 A1 FR 2477707A1
Authority
FR
France
Prior art keywords
envelope
plates
transducer according
capacitors
movable member
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
FR8104560A
Other languages
English (en)
French (fr)
Other versions
FR2477707B1 (enExample
Inventor
Giorgio Venturello
Osvaldo Salvatore
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.)
Centro Ricerche Fiat SCpA
Original Assignee
Centro Ricerche Fiat SCpA
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 Centro Ricerche Fiat SCpA filed Critical Centro Ricerche Fiat SCpA
Publication of FR2477707A1 publication Critical patent/FR2477707A1/fr
Application granted granted Critical
Publication of FR2477707B1 publication Critical patent/FR2477707B1/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
    • G01L5/165—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 capacitance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • 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
    • G01L1/00—Measuring force or stress, in general
    • G01L1/14—Measuring force or stress, in general by measuring variations in capacitance or inductance of electrical elements, e.g. by measuring variations of frequency of electrical oscillators
    • G01L1/142—Measuring force or stress, in general by measuring variations in capacitance or inductance of electrical elements, e.g. by measuring variations of frequency of electrical oscillators using capacitors
    • G01L1/144—Measuring force or stress, in general by measuring variations in capacitance or inductance of electrical elements, e.g. by measuring variations of frequency of electrical oscillators using capacitors with associated circuitry
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G9/04737—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks with six degrees of freedom

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
FR8104560A 1980-03-07 1981-03-06 Transducteur a six degres de liberte pour convertir des forces et des couples en signaux electriques Granted FR2477707A1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT67359/80A IT1129409B (it) 1980-03-07 1980-03-07 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

Publications (2)

Publication Number Publication Date
FR2477707A1 true FR2477707A1 (fr) 1981-09-11
FR2477707B1 FR2477707B1 (enExample) 1984-02-17

Family

ID=11301737

Family Applications (1)

Application Number Title Priority Date Filing Date
FR8104560A Granted FR2477707A1 (fr) 1980-03-07 1981-03-06 Transducteur a six degres de liberte pour convertir des forces et des couples en signaux electriques

Country Status (7)

Country Link
US (1) US4369663A (enExample)
JP (1) JPS56139891A (enExample)
DE (1) DE3107925C2 (enExample)
FR (1) FR2477707A1 (enExample)
GB (1) GB2072345B (enExample)
IT (1) IT1129409B (enExample)
SU (1) SU1082337A3 (enExample)

Families Citing this family (36)

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DE3211992A1 (de) * 1982-03-31 1983-10-06 Wagner Gmbh J Verfahren und vorrichtung zum programmieren eines roboters, insbesondere farbspritzroboters
GB2123157B (en) * 1982-06-22 1986-10-15 Peter Caleb Frederi Wolfendale Load cells
CH651928A5 (fr) * 1983-02-23 1985-10-15 Christof W Burckhardt Dispositif de mesure de force.
US4591944A (en) * 1984-09-10 1986-05-27 Gmf Robotics Corporation Electronic circuit for tactile sensors
US5706027A (en) * 1985-12-18 1998-01-06 Spacetec Imc Corporation Force and torque converter for use in a computer input device
DE3606685A1 (de) * 1986-02-28 1987-09-03 Forsch Steuerungstechnik Der W Vorrichtung zur handfuehrung eines industrieroboters
DE69116901T2 (de) * 1990-02-27 1996-07-18 Toshiba Kawasaki Kk Robotersteuerung
US5146566A (en) * 1991-05-29 1992-09-08 Ibm Corporation Input/output system for computer user interface using magnetic levitation
US6222525B1 (en) * 1992-03-05 2001-04-24 Brad A. Armstrong Image controllers with sheet connected sensors
US6906700B1 (en) 1992-03-05 2005-06-14 Anascape 3D controller with vibration
US6343991B1 (en) * 1997-10-01 2002-02-05 Brad A. Armstrong Game control with analog pressure sensor
US5589828A (en) * 1992-03-05 1996-12-31 Armstrong; Brad A. 6 Degrees of freedom controller with capability of tactile feedback
US5687080A (en) * 1995-06-20 1997-11-11 Ziba Design, Inc. Multiple axis data input apparatus and method
US8674932B2 (en) * 1996-07-05 2014-03-18 Anascape, Ltd. Image controller
US20040160414A1 (en) * 1996-07-05 2004-08-19 Armstrong Brad A. Image controller
US6351205B1 (en) * 1996-07-05 2002-02-26 Brad A. Armstrong Variable-conductance sensor
US6456778B2 (en) 1997-10-01 2002-09-24 Brad A. Armstrong Analog controls housed with electronic displays for video recorders and cameras
US6499359B1 (en) * 2001-07-09 2002-12-31 Nartron Corporation Compressible capacitance sensor for determining the presence of an object
US7162928B2 (en) * 2004-12-06 2007-01-16 Nartron Corporation Anti-entrapment system
US7293467B2 (en) * 2001-07-09 2007-11-13 Nartron Corporation Anti-entrapment system
US7132642B2 (en) * 2001-07-09 2006-11-07 Nartron Corporation Anti-entrapment systems for preventing objects from being entrapped by translating devices
US20050038563A1 (en) * 2003-08-16 2005-02-17 Abdul Rauf Device and method for kinematic calibration of robots
US7712366B2 (en) * 2004-06-09 2010-05-11 Eth Zuerich Multi-axis capacitive transducer and manufacturing method for producing it
US7312591B2 (en) * 2005-03-11 2007-12-25 Npc Corporation Powered panel moving system
US8496647B2 (en) 2007-12-18 2013-07-30 Intuitive Surgical Operations, Inc. Ribbed force sensor
US7752920B2 (en) * 2005-12-30 2010-07-13 Intuitive Surgical Operations, Inc. Modular force sensor
JP5152993B2 (ja) * 2005-12-30 2013-02-27 インテュイティブ サージカル インコーポレイテッド モジュール式力センサ
US7342373B2 (en) * 2006-01-04 2008-03-11 Nartron Corporation Vehicle panel control system
US8561473B2 (en) 2007-12-18 2013-10-22 Intuitive Surgical Operations, Inc. Force sensor temperature compensation
EP2573534A1 (en) 2011-09-20 2013-03-27 General Electric Company Multi degree of freedom transducer
CN105204394B (zh) * 2015-08-26 2017-08-08 电子科技大学 一种六自由度咀嚼机器人的控制系统
CN107036754B (zh) * 2017-05-22 2022-12-02 华中科技大学 一种能感知接触力和牵引力的六维力传感器
KR102415597B1 (ko) 2017-11-14 2022-07-05 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 분할 브리지 회로 힘 센서
JP6339304B1 (ja) * 2018-02-06 2018-06-06 株式会社トライフォース・マネジメント 力覚センサ装置
EP4058767A1 (en) 2019-11-15 2022-09-21 Intuitive Surgical Operations, Inc. Spread bridge xy force sensor
WO2022153478A1 (ja) * 2021-01-15 2022-07-21 株式会社Fuji 力覚センサ、協働ロボット及びロボット

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB731190A (en) * 1952-01-17 1955-06-01 Cie Generale Electro Ceramique Improvements in and relating to electrical devices for measuring forces
FR2267620A1 (en) * 1974-04-11 1975-11-07 Herve Marcel Linear displacement capacitive transducer - has four tubular in-line bodies around mobile capacitor shaft
DE2758986A1 (de) * 1976-12-30 1978-07-06 Nils Aage Juul Eilersen Kapazitiver druckgeber

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2892152A (en) * 1953-09-22 1959-06-23 Buisson Pierre System for measuring small displacements of a body along three coordinate axes
US3109984A (en) * 1958-05-28 1963-11-05 Perkin Elmer Corp Servomechanism hand control
BE793568A (fr) * 1971-12-30 1973-04-16 Western Electric Co Procede de surveillance de la capacite et de l'excentricite d'un cable coaxial pendant l'extrusion de l'isolant
GB1368145A (en) * 1972-12-04 1974-09-25 Cape Eng Co Ltd Capacitive transducer
US3921445A (en) * 1973-10-15 1975-11-25 Stanford Research Inst Force and torque sensing method and means for manipulators and the like
US4132318A (en) * 1976-12-30 1979-01-02 International Business Machines Corporation Asymmetric six-degree-of-freedom force-transducer system for a computer-controlled manipulator system
US4099409A (en) * 1977-07-05 1978-07-11 The Bendix Corporation Multi-axis load cell with arcuate flexures

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB731190A (en) * 1952-01-17 1955-06-01 Cie Generale Electro Ceramique Improvements in and relating to electrical devices for measuring forces
FR2267620A1 (en) * 1974-04-11 1975-11-07 Herve Marcel Linear displacement capacitive transducer - has four tubular in-line bodies around mobile capacitor shaft
DE2758986A1 (de) * 1976-12-30 1978-07-06 Nils Aage Juul Eilersen Kapazitiver druckgeber

Also Published As

Publication number Publication date
GB2072345B (en) 1983-12-07
JPS56139891A (en) 1981-10-31
DE3107925A1 (de) 1982-01-14
FR2477707B1 (enExample) 1984-02-17
GB2072345A (en) 1981-09-30
IT8067359A0 (it) 1980-03-07
DE3107925C2 (de) 1983-07-21
US4369663A (en) 1983-01-25
IT1129409B (it) 1986-06-04
SU1082337A3 (ru) 1984-03-23

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