GB1470351A - Manipulators including force transducer means - Google Patents

Manipulators including force transducer means

Info

Publication number
GB1470351A
GB1470351A GB63675A GB63675A GB1470351A GB 1470351 A GB1470351 A GB 1470351A GB 63675 A GB63675 A GB 63675A GB 63675 A GB63675 A GB 63675A GB 1470351 A GB1470351 A GB 1470351A
Authority
GB
United Kingdom
Prior art keywords
jaws
vane
force
sensors
disc
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
Application number
GB63675A
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.)
SRI International Inc
Original Assignee
Stanford Research Institute
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 Stanford Research Institute filed Critical Stanford Research Institute
Priority to GB63675A priority Critical patent/GB1470351A/en
Publication of GB1470351A publication Critical patent/GB1470351A/en
Expired 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
    • 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
    • G01L1/24—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Manipulator (AREA)

Abstract

1470351 Manipulator with force sensors STANFORD RESEARCH INSTITUTE 7 Jan 1975 636/75 Heading G1A A manipulator has jaws 29, 30 with object gripping faces and force transducer means, as 78, providing an electrical output, comprising vane 122 varying the amount of light reaching sensor 108 from source 106, biased by means 130, which is opposed by vane operating means 90, including moveable member 128 at the jaw face, when an external force is applied to it. The transducer means have body members 96, 98 with three pairs of aligned apertures 102, 104. Mask 109 with slots 110 limits the light beams. When vanes 122 move in grooves 120, slots 124 allow light to reach sensors 108. On removal of retaining pins 134, which limit motion, vanes 122 are removeable. Each means 90 has a body portion 125 with a flange 129 and a plastics or rubber gripping member 132 held in a recess in head 128. When a force acts on means 90, portion 125 slides in aperture 126 depressing vane 122. Biasing means 130 may be an elastomeric material or a metal or plastics spring and its stress/ displacement characteristic may be linear. It may Fig. 5 (not shown) have a triangular cross-section, so that the rate of deformation decreases with increased force. Transducer means 78, Fig. 7 is similar to 88, but the biasing means 130A is between wall 76 of plate 144, restrained in recess 150 by its flanges 146 against stop members 148 on wall 76. Soft rubber biasing means 157 is under head 128A. So long as external force is applied to cover plate 154 within the projected area of means 130A, the displacement of vane 122A is proportional to it. The sources maybe L.E.D.s and the sensors phototransistors. A slip sensor 92, Fig. 3, comprises supporting members 160 attached to jaw wall 86 having elongated apertures 168 in which resilient biasing means 170 urge shaft 166 and its attached disc 164 outwardly. When an object is gripped between jaws 29, 30 disc 164 is urged inwardly. When slippage occurs a plurality of radial slits 174 in disc 164 pass between sources 176, 178 and sensors 180, 182, which are placed so that their outputs are 90 degrees out of phase. The number of pulses generated indicates the amount of slippage and the phase the direction. As in Figs. 1 and 10, the manipulator includes housing 16 for supporting jaws 29, 30 and a motor 25 for moving them and having brackets 194 with notches 196 receiving crosshead 200 of a T-shaped, handle of a tool 198, which has flats 202 gripped by the jaws.
GB63675A 1975-01-07 1975-01-07 Manipulators including force transducer means Expired GB1470351A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
GB63675A GB1470351A (en) 1975-01-07 1975-01-07 Manipulators including force transducer means

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GB63675A GB1470351A (en) 1975-01-07 1975-01-07 Manipulators including force transducer means

Publications (1)

Publication Number Publication Date
GB1470351A true GB1470351A (en) 1977-04-14

Family

ID=9707826

Family Applications (1)

Application Number Title Priority Date Filing Date
GB63675A Expired GB1470351A (en) 1975-01-07 1975-01-07 Manipulators including force transducer means

Country Status (1)

Country Link
GB (1) GB1470351A (en)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4651074A (en) * 1984-12-04 1987-03-17 Wise James A Robotic sensor
GB2349205A (en) * 1999-04-19 2000-10-25 Applied Materials Inc Detecting that two moveable members are correctly positioned relative to one another
US6633046B1 (en) 2000-04-19 2003-10-14 Applied Materials, Inc. Method and apparatus for detecting that two moveable members are correctly positioned relatively to one another
WO2005090904A1 (en) * 2004-03-18 2005-09-29 Schaeffler Kg Device for measuring changes in the position of the edge of a body
CN110238575A (en) * 2019-06-14 2019-09-17 温州大学激光与光电智能制造研究院 Visualize autonomous welding robot
CN113825600A (en) * 2020-04-20 2021-12-21 雄克有限公司 Modular gripping fingers, gripping device and construction kit

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4651074A (en) * 1984-12-04 1987-03-17 Wise James A Robotic sensor
GB2349205A (en) * 1999-04-19 2000-10-25 Applied Materials Inc Detecting that two moveable members are correctly positioned relative to one another
GB2349205B (en) * 1999-04-19 2003-12-31 Applied Materials Inc Method and apparatus for detecting that two moveable members are correctly positioned relatively to one another
US6633046B1 (en) 2000-04-19 2003-10-14 Applied Materials, Inc. Method and apparatus for detecting that two moveable members are correctly positioned relatively to one another
WO2005090904A1 (en) * 2004-03-18 2005-09-29 Schaeffler Kg Device for measuring changes in the position of the edge of a body
CN110238575A (en) * 2019-06-14 2019-09-17 温州大学激光与光电智能制造研究院 Visualize autonomous welding robot
CN113825600A (en) * 2020-04-20 2021-12-21 雄克有限公司 Modular gripping fingers, gripping device and construction kit

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Legal Events

Date Code Title Description
PS Patent sealed
PCNP Patent ceased through non-payment of renewal fee