FR2529333A1 - Poignet a detection de six composantes d'effort - Google Patents
Poignet a detection de six composantes d'effort Download PDFInfo
- Publication number
- FR2529333A1 FR2529333A1 FR8211181A FR8211181A FR2529333A1 FR 2529333 A1 FR2529333 A1 FR 2529333A1 FR 8211181 A FR8211181 A FR 8211181A FR 8211181 A FR8211181 A FR 8211181A FR 2529333 A1 FR2529333 A1 FR 2529333A1
- Authority
- FR
- France
- Prior art keywords
- sep
- rod
- plates
- rods
- wrist
- 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
Links
- 238000001514 detection method Methods 0.000 title claims description 5
- 238000005452 bending Methods 0.000 claims abstract description 5
- 210000000707 wrist Anatomy 0.000 claims description 27
- 238000007906 compression Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 239000007787 solid Substances 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000003750 conditioning effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/10—Aligning parts to be fitted together
- B23P19/102—Aligning parts to be fitted together using remote centre compliance devices
- B23P19/105—Aligning parts to be fitted together using remote centre compliance devices using sensing 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
- 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
-
- 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
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Robotics (AREA)
- Human Computer Interaction (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| FR8211181A FR2529333A1 (fr) | 1982-06-25 | 1982-06-25 | Poignet a detection de six composantes d'effort |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| FR8211181A FR2529333A1 (fr) | 1982-06-25 | 1982-06-25 | Poignet a detection de six composantes d'effort |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| FR2529333A1 true FR2529333A1 (fr) | 1983-12-30 |
| FR2529333B1 FR2529333B1 (enrdf_load_stackoverflow) | 1985-03-15 |
Family
ID=9275410
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| FR8211181A Granted FR2529333A1 (fr) | 1982-06-25 | 1982-06-25 | Poignet a detection de six composantes d'effort |
Country Status (1)
| Country | Link |
|---|---|
| FR (1) | FR2529333A1 (enrdf_load_stackoverflow) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2598505A1 (fr) * | 1986-05-09 | 1987-11-13 | Yamato Scale Co Ltd | Dispositif pour mesurer des composantes de forces et de moments appliques a des pneumatiques de vehicules |
| FR2631118A1 (fr) * | 1988-05-03 | 1989-11-10 | Onera (Off Nat Aerospatiale) | Dispositif capteur d'effort a six composantes, notamment pour la robotique |
| FR2653761A1 (fr) * | 1989-10-27 | 1991-05-03 | Potain Sa | Robot manipulateur de grande dimension et de forte capacite pour utilisation en milieu ouvert. |
| DE4101732A1 (de) * | 1991-01-22 | 1992-07-23 | Kernforschungsz Karlsruhe | Kraft- momenten-sensor |
| EP0625410A1 (en) * | 1993-05-21 | 1994-11-23 | Agency of Industrial Science and Technology of Ministry of International Trade and Industry | Micromanipulator |
| DE4335423C1 (de) * | 1993-10-18 | 1994-12-01 | Kernforschungsz Karlsruhe | Kraft-Drehmomenten-Sensor |
| WO1996032626A1 (fr) * | 1995-04-12 | 1996-10-17 | Giat Industries | Capteur de mesure d'un torseur de liaison entre deux pieces mecaniques, ainsi que son procede de fabrication |
| 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 |
| CH704968A1 (de) * | 2011-05-17 | 2012-11-30 | Kistler Holding Ag | 6-Komponenten-Dynamometer. |
| CN108032281A (zh) * | 2017-11-13 | 2018-05-15 | 歌尔股份有限公司 | 六自由度运动平台以及电子设备 |
-
1982
- 1982-06-25 FR FR8211181A patent/FR2529333A1/fr active Granted
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2598505A1 (fr) * | 1986-05-09 | 1987-11-13 | Yamato Scale Co Ltd | Dispositif pour mesurer des composantes de forces et de moments appliques a des pneumatiques de vehicules |
| FR2631118A1 (fr) * | 1988-05-03 | 1989-11-10 | Onera (Off Nat Aerospatiale) | Dispositif capteur d'effort a six composantes, notamment pour la robotique |
| FR2653761A1 (fr) * | 1989-10-27 | 1991-05-03 | Potain Sa | Robot manipulateur de grande dimension et de forte capacite pour utilisation en milieu ouvert. |
| EP0428453A1 (fr) * | 1989-10-27 | 1991-05-22 | Potain | Robot manipulateur de grande dimension et de forte capacité pour utilisation en milieu ouvert |
| DE4101732A1 (de) * | 1991-01-22 | 1992-07-23 | Kernforschungsz Karlsruhe | Kraft- momenten-sensor |
| US5476357A (en) * | 1993-05-21 | 1995-12-19 | Agency Of Industrial Science And Technology | Micromanipulator |
| EP0625410A1 (en) * | 1993-05-21 | 1994-11-23 | Agency of Industrial Science and Technology of Ministry of International Trade and Industry | Micromanipulator |
| DE4335423C1 (de) * | 1993-10-18 | 1994-12-01 | Kernforschungsz Karlsruhe | Kraft-Drehmomenten-Sensor |
| WO1996032626A1 (fr) * | 1995-04-12 | 1996-10-17 | Giat Industries | Capteur de mesure d'un torseur de liaison entre deux pieces mecaniques, ainsi que son procede de fabrication |
| FR2733046A1 (fr) * | 1995-04-12 | 1996-10-18 | Giat Ind Sa | Capteur de mesure d'un torseur de liaison entre deux pieces mecaniques, ainsi que son procede de fabrication |
| US5821431A (en) * | 1995-04-12 | 1998-10-13 | Giat Industries | Measurement sensor for a linking wrench between two mechanical parts, as well as its manufacturing process |
| 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 |
| CH704968A1 (de) * | 2011-05-17 | 2012-11-30 | Kistler Holding Ag | 6-Komponenten-Dynamometer. |
| CN108032281A (zh) * | 2017-11-13 | 2018-05-15 | 歌尔股份有限公司 | 六自由度运动平台以及电子设备 |
Also Published As
| Publication number | Publication date |
|---|---|
| FR2529333B1 (enrdf_load_stackoverflow) | 1985-03-15 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| CL | Concession to grant licences | ||
| TP | Transmission of property |