JP4955286B2 - 外力検出装置 - Google Patents
外力検出装置 Download PDFInfo
- Publication number
- JP4955286B2 JP4955286B2 JP2006061530A JP2006061530A JP4955286B2 JP 4955286 B2 JP4955286 B2 JP 4955286B2 JP 2006061530 A JP2006061530 A JP 2006061530A JP 2006061530 A JP2006061530 A JP 2006061530A JP 4955286 B2 JP4955286 B2 JP 4955286B2
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- JP
- Japan
- Prior art keywords
- receiving portion
- optical
- force receiving
- force
- light source
- 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.)
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- 238000001514 detection method Methods 0.000 title claims description 16
- 230000003287 optical effect Effects 0.000 claims description 98
- 238000006073 displacement reaction Methods 0.000 claims description 48
- 239000013307 optical fiber Substances 0.000 claims description 16
- 230000008878 coupling Effects 0.000 claims description 8
- 238000010168 coupling process Methods 0.000 claims description 8
- 238000005859 coupling reaction Methods 0.000 claims description 8
- 238000009434 installation Methods 0.000 description 8
- 238000005452 bending Methods 0.000 description 6
- 238000005259 measurement Methods 0.000 description 6
- 229910000838 Al alloy Inorganic materials 0.000 description 4
- 239000000956 alloy Substances 0.000 description 4
- 238000003754 machining Methods 0.000 description 3
- 230000007423 decrease Effects 0.000 description 2
- 238000009760 electrical discharge machining Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
Images
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
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J3/00—Spectrometry; Spectrophotometry; Monochromators; Measuring colours
- G01J3/46—Measurement of colour; Colour measuring devices, e.g. colorimeters
- G01J3/52—Measurement of colour; Colour measuring devices, e.g. colorimeters using colour charts
- G01J3/526—Measurement of colour; Colour measuring devices, e.g. colorimeters using colour charts for choosing a combination of different colours, e.g. to produce a pleasing effect for an observer
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Description
21a 本体
21b 上部蓋
22 支持部
23 受力部
24 弾性連結部
25 フレーム
1 光センサ
3 光源
103 出射口
Claims (3)
- 支持部と、前記支持部の回転対称軸の中心に配置される受力部と、前記支持部と前記受力部とを連結する弾性連結部とを有し、前記支持部に対する前記受力部の相対変位を3組の光学式変位センサによって検出し、前記3組の光学式変位センサそれぞれからの信号に基づいて前記受力部に印加された外力を算出する外力検出装置において、
前記3組の光学式変位センサは、前記回転対称軸を中心に120度回転対称に配置され、
前記各光学式変位センサを構成する光源は、前記支持部または前記受力部のいずれか一方に設けられ、
前記各光学式変位センサを構成する受光素子は、前記支持部または前記受力部のうち前記光源が設けられているのとは別の方に設けられ、
前記光学式変位センサを構成する光源と受光素子との間に前記受力部が介在し、前記光源から前記受光素子までの光路が前記回転対称軸を通過し前記受力部を貫通するように前記3組の光学式変位センサを構成したことを特徴とする外力検出装置。 - 前記弾性連結部は、前記回転対称軸を中心に120度回転対称に配置され、
前記回転対称軸から見た場合に、前記弾性連結部に対して前記3組の光学式変位センサの各光軸が重ならないように、前記弾性連結部に対して前記3組の光学式変位センサを配置したことを特徴とする請求項1に記載の外力検出装置。 - 前記光源は、光ファイバにより構成されていることを特徴とする請求項1または2に記載の外力検出装置。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006061530A JP4955286B2 (ja) | 2006-03-07 | 2006-03-07 | 外力検出装置 |
US11/714,626 US20070284512A1 (en) | 2006-03-07 | 2007-03-06 | External force detecting device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006061530A JP4955286B2 (ja) | 2006-03-07 | 2006-03-07 | 外力検出装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2007240267A JP2007240267A (ja) | 2007-09-20 |
JP4955286B2 true JP4955286B2 (ja) | 2012-06-20 |
Family
ID=38585954
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2006061530A Active JP4955286B2 (ja) | 2006-03-07 | 2006-03-07 | 外力検出装置 |
Country Status (2)
Country | Link |
---|---|
US (1) | US20070284512A1 (ja) |
JP (1) | JP4955286B2 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2019174367A (ja) * | 2018-03-29 | 2019-10-10 | キヤノン株式会社 | 力覚センサ |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5413773B2 (ja) * | 2009-06-24 | 2014-02-12 | 国立大学法人 東京大学 | 柔軟触覚センサ |
DE102012212995B4 (de) * | 2012-07-24 | 2016-03-03 | Siemens Aktiengesellschaft | Kraftaufnehmer |
WO2015068700A1 (ja) * | 2013-11-05 | 2015-05-14 | 日本精工株式会社 | 力覚センサ |
US9981389B2 (en) * | 2014-03-03 | 2018-05-29 | California Institute Of Technology | Robotics platforms incorporating manipulators having common joint designs |
CN106225977B (zh) * | 2016-07-08 | 2018-12-07 | 燕山大学 | 分流式三平面分支并联六维力传感器 |
US10732061B2 (en) * | 2017-09-07 | 2020-08-04 | X Development Llc | Unibody flexure design for displacement-based force/torque sensing |
US11428589B2 (en) * | 2017-10-16 | 2022-08-30 | Saf-Holland, Inc. | Displacement sensor utilizing ronchi grating interference |
JP6896585B2 (ja) * | 2017-10-20 | 2021-06-30 | キヤノン株式会社 | 力覚センサ及び装置 |
Family Cites Families (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS60131191A (ja) * | 1983-12-19 | 1985-07-12 | オムロン株式会社 | 外力検出装置 |
JPS61205831A (ja) * | 1985-03-08 | 1986-09-12 | Nippon Telegr & Teleph Corp <Ntt> | マトリツクス触覚センサ |
DE3611337A1 (de) * | 1986-04-04 | 1987-10-22 | Deutsche Forsch Luft Raumfahrt | In einer kunststoffkugel untergebrachte, opto-elektronische anordnung |
JPH0259634A (ja) * | 1988-08-25 | 1990-02-28 | Meidensha Corp | 力センサおよび力の検出方法 |
JP2767480B2 (ja) * | 1990-02-23 | 1998-06-18 | 科学技術振興事業団 | 6軸力センサによる計測値の校正方法 |
US5117305A (en) * | 1990-07-25 | 1992-05-26 | Eastman Kodak Company | Modified retroreflector |
DE10034569B4 (de) * | 2000-07-14 | 2004-02-12 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Einrichtung zum Erfassen von Relativbewegungen eines Objekts |
GB0107605D0 (en) * | 2001-03-27 | 2001-05-16 | Trw Lucas Varity Electric | An improved displacement and torque sensor |
US6834558B2 (en) * | 2001-11-16 | 2004-12-28 | Pratt & Whitney Canada Corp. | Combined torque measurement and clutch apparatus |
DE10158775B4 (de) * | 2001-11-30 | 2004-05-06 | 3Dconnexion Gmbh | Anordnung zum Erfassen von Relativbewegungen oder Relativpositionen zweier Objekte |
JP4099094B2 (ja) * | 2003-03-28 | 2008-06-11 | ミネベア株式会社 | 回転体トルク測定装置 |
JP4072506B2 (ja) * | 2003-05-20 | 2008-04-09 | ミネベア株式会社 | 光学式変位センサおよび外力検出装置 |
JP4206057B2 (ja) * | 2003-09-16 | 2009-01-07 | 株式会社東京大学Tlo | 光学式触覚センサを用いた力ベクトル再構成法 |
JP2005156456A (ja) * | 2003-11-27 | 2005-06-16 | Minebea Co Ltd | 光学式変位センサおよび外力検出装置 |
JP3899086B2 (ja) * | 2004-05-11 | 2007-03-28 | ミネベア株式会社 | 回転体トルク測定装置 |
JP4035515B2 (ja) * | 2004-05-18 | 2008-01-23 | ミネベア株式会社 | 光学式変位センサおよび外力検出装置 |
JP4094594B2 (ja) * | 2004-08-25 | 2008-06-04 | ミネベア株式会社 | 回転体トルク測定装置 |
-
2006
- 2006-03-07 JP JP2006061530A patent/JP4955286B2/ja active Active
-
2007
- 2007-03-06 US US11/714,626 patent/US20070284512A1/en not_active Abandoned
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2019174367A (ja) * | 2018-03-29 | 2019-10-10 | キヤノン株式会社 | 力覚センサ |
JP7013303B2 (ja) | 2018-03-29 | 2022-01-31 | キヤノン株式会社 | 力覚センサ |
Also Published As
Publication number | Publication date |
---|---|
JP2007240267A (ja) | 2007-09-20 |
US20070284512A1 (en) | 2007-12-13 |
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