FR2631118B1 - Dispositif capteur d'effort a six composantes, notamment pour la robotique - Google Patents

Dispositif capteur d'effort a six composantes, notamment pour la robotique

Info

Publication number
FR2631118B1
FR2631118B1 FR8805919A FR8805919A FR2631118B1 FR 2631118 B1 FR2631118 B1 FR 2631118B1 FR 8805919 A FR8805919 A FR 8805919A FR 8805919 A FR8805919 A FR 8805919A FR 2631118 B1 FR2631118 B1 FR 2631118B1
Authority
FR
France
Prior art keywords
robotics
components
sensor device
stress sensor
stress
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 - Lifetime
Application number
FR8805919A
Other languages
English (en)
Other versions
FR2631118A1 (fr
Inventor
Claude Reboulet
Pierre Caron
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.)
Office National dEtudes et de Recherches Aerospatiales ONERA
Original Assignee
Office National dEtudes et de Recherches Aerospatiales ONERA
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 Office National dEtudes et de Recherches Aerospatiales ONERA filed Critical Office National dEtudes et de Recherches Aerospatiales ONERA
Priority to FR8805919A priority Critical patent/FR2631118B1/fr
Publication of FR2631118A1 publication Critical patent/FR2631118A1/fr
Application granted granted Critical
Publication of FR2631118B1 publication Critical patent/FR2631118B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime 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
    • G01L5/22—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
    • 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
    • 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
    • B25J17/0208—Compliance devices
    • 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)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
FR8805919A 1988-05-03 1988-05-03 Dispositif capteur d'effort a six composantes, notamment pour la robotique Expired - Lifetime FR2631118B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR8805919A FR2631118B1 (fr) 1988-05-03 1988-05-03 Dispositif capteur d'effort a six composantes, notamment pour la robotique

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR8805919A FR2631118B1 (fr) 1988-05-03 1988-05-03 Dispositif capteur d'effort a six composantes, notamment pour la robotique

Publications (2)

Publication Number Publication Date
FR2631118A1 FR2631118A1 (fr) 1989-11-10
FR2631118B1 true FR2631118B1 (fr) 1991-08-30

Family

ID=9365935

Family Applications (1)

Application Number Title Priority Date Filing Date
FR8805919A Expired - Lifetime FR2631118B1 (fr) 1988-05-03 1988-05-03 Dispositif capteur d'effort a six composantes, notamment pour la robotique

Country Status (1)

Country Link
FR (1) FR2631118B1 (fr)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ITMI20061000A1 (it) * 2006-05-22 2007-11-23 Milano Politecnico Giunto elastico a cerniera sferica traslante e sensore di forze e momenti perfezionato con tale giunto
IT1393927B1 (it) * 2008-07-24 2012-05-17 Sacchi Meccaniche Snc Testa di presa pneumatica per sacchi contenenti materiale sfuso
CN102501245B (zh) * 2011-11-08 2014-10-15 湖南大学 全柔性细微操作平台的中间支链
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
CN114323394A (zh) * 2021-12-30 2022-04-12 航天南洋（浙江）科技有限公司 一种六维力传感器

Family Cites Families (8)

* 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
DE2727704C3 (de) * 1977-06-21 1982-12-09 Deutsche Forschungs- und Versuchsanstalt für Luft- und Raumfahrt e.V., 5000 Köln Kraft-Drehmoment-Fühler
US4316329A (en) * 1979-09-19 1982-02-23 The Charles Stark Draper Laboratory Instrumented remote center compliance device
FR2529333A1 (fr) * 1982-06-25 1983-12-30 Onera (Off Nat Aerospatiale) Poignet a detection de six composantes d'effort
DE3345710A1 (de) * 1983-12-17 1985-06-27 Manfred 8904 Friedberg Tieschky Verfahren zum fuehren eines werkzeugs eines handhabungsgeraets
US4517744A (en) * 1984-02-21 1985-05-21 The Charles Stark Draper Laboratory, Inc. Compliant assembly system with force sensor members
WO1986001597A1 (fr) * 1984-08-29 1986-03-13 Massachusetts Institute Of Technology Appareil de detection de forces
GB2184996A (en) * 1986-01-04 1987-07-08 Gen Electric Co Plc Robot finger

Also Published As

Publication number Publication date
FR2631118A1 (fr) 1989-11-10

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