GB1470352A - Sensing of force and torque components transmitted between members - Google Patents

Sensing of force and torque components transmitted between members

Info

Publication number
GB1470352A
GB1470352A GB64075A GB64075A GB1470352A GB 1470352 A GB1470352 A GB 1470352A GB 64075 A GB64075 A GB 64075A GB 64075 A GB64075 A GB 64075A GB 1470352 A GB1470352 A GB 1470352A
Authority
GB
United Kingdom
Prior art keywords
holes
axis
force
sensors
members
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
GB64075A
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 GB64075A priority Critical patent/GB1470352A/en
Publication of GB1470352A publication Critical patent/GB1470352A/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
    • G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
    • G01L5/166—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using photoelectric means
    • 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
    • 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
    • G01L5/163—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 potentiometers
    • 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

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Adjustable Resistors (AREA)

Abstract

1470352 Force and torque sensor STANFORD RESEARCH INSTITUTE 7 Jan 1975 640/75 Headings G1A G1N and G1W Means 14 for sensing force and torque transmitted between members 10 and 16, having a longitudinal or Z axis comprises resilient coupling means 26 with one or more sensing units 25-1 to 25-4 displaced from the Z axis, and co-operating means 84, 88 coupled respectively to members 10, 16 so that relative movement occurs between them upon transmission of force and/or torque through means 26, each sensing unit, as 25-2, having sensors, as 102Z<SP>+</SP>, 102Y<SP>+</SP>, giving at least 1st and 2nd electrical outputs, respectively responsive only to the relative movement of means 84, 88 in the Z direction and perpendicular to both the Z direction and the radius through unit 25-2. A reversible motor serving to open and close a pair of jaws 29, 30 through gears and linkages is positioned on the Z axis and on the opposite side of ring 18 to, and secured to, housing 16. Sensor 14 comprises ring 18 secured to housing 16 by screws 24 and connected to member 10, via members 26, by cementing. Threaded holes in arms 82 bear opaque pins 84, extending into and coaxial with holes 96 in units 25-1 to 25-4 which are opaque and have, intersecting holes 96, orthogonally arranged holes, at opposite ends of which are mounted phototransistors 102 and light emitting diodes. With pins 84 central in holes 96, half of the light from each source is blocked. Sensors of force along the X axis 102X<SP>-</SP> and 102X<SP>+</SP> are located on opposite sides of the YZ plane, so that pins 84 moving radially in holes 96 give a differential output. 102M x <SP>+</SP> and 102M x <SP>-</SP> indicate the sensors of torque about the X-axis, which, as with the remaining sensors indicated by similar notation, function similarly. In the embodiment of Figs. 8 and 9 potentiometer type sensors as 112-1 and 112-2 are used. Each includes a moveable contact 116 in an insulating block 120 attached to ring 18' and a rectangular plate of resistive material 114 attached to arms 82' on supporting member 10' and having electrodes 126 which are connected to the circuit of Fig. 10. In other embodiments split photo-cells or four quadrant photo-cells are employed. Three sensing units spaced at 120 degrees may be employed.
GB64075A 1975-01-07 1975-01-07 Sensing of force and torque components transmitted between members Expired GB1470352A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
GB64075A GB1470352A (en) 1975-01-07 1975-01-07 Sensing of force and torque components transmitted between members

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GB64075A GB1470352A (en) 1975-01-07 1975-01-07 Sensing of force and torque components transmitted between members

Publications (1)

Publication Number Publication Date
GB1470352A true GB1470352A (en) 1977-04-14

Family

ID=9707898

Family Applications (1)

Application Number Title Priority Date Filing Date
GB64075A Expired GB1470352A (en) 1975-01-07 1975-01-07 Sensing of force and torque components transmitted between members

Country Status (1)

Country Link
GB (1) GB1470352A (en)

Cited By (4)

* 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
WO2004072599A1 (en) * 2002-06-07 2004-08-26 3Dconnexion Gmbh Measuring device for measuring positions or movements
WO2020117746A1 (en) * 2018-12-04 2020-06-11 Raytheon Company Adjustable ballast system and method for same
US11027435B2 (en) 2018-12-04 2021-06-08 Raytheon Company Automated work piece testing system and method for same

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
WO2004072599A1 (en) * 2002-06-07 2004-08-26 3Dconnexion Gmbh Measuring device for measuring positions or movements
US7296463B2 (en) 2002-06-07 2007-11-20 3Dconnexion Gmbh Measuring device for measuring positions or movements
WO2020117746A1 (en) * 2018-12-04 2020-06-11 Raytheon Company Adjustable ballast system and method for same
US11027435B2 (en) 2018-12-04 2021-06-08 Raytheon Company Automated work piece testing system and method for same
US11198227B2 (en) 2018-12-04 2021-12-14 Raytheon Company Adjustable ballast system and method for same

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Legal Events

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