Apparatus for detecting forces directing the movement of a manip

Details Apparatus for detecting forces directing the movement of a manip Apparatus for detecting forces directing the movement of a manip

1979-09-24

1981-11-03

Nase, Jeffrey V.

Material or article handling

Vertically swinging load support

Grab

318488, 318568, 364513, G05B 1942, B25J 900

Patent

active

042983088

ABSTRACT:
An apparatus attached to a motor driven manipulating instrument for detecting and identifying specific forces employed in moving the instrument along a predetermined spatial track. The apparatus includes a center portion rigidly attached to the manipulating instrument and a sleeve member surrounding the center portion. A plurality of separate, flexible blades join the sleeve and center portions to each other, with a separate transducer fixedly attached to each flexible blade and capable of detecting bending forces employed to move the sleeve and attached instrument. The transducers generate output signals indicative of the magnitude and direction of the forces, which signals are used for establishing a program for controlling the actuation of the various motors to allow the instrument to repeatedly execute the course set forth in the program.

REFERENCES:
patent: 3648143 (1972-03-01), Harper et al.
patent: 3951271 (1976-04-01), Mette
patent: 4187454 (1980-02-01), Ito et al.

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