Handling: hand and hoist-line implements – Article carrier gripped and carried by hand – Convertible to – or useable as – different device or different...
Patent
1975-01-28
1976-04-27
Goodman, Philip
Handling: hand and hoist-line implements
Article carrier gripped and carried by hand
Convertible to, or useable as, different device or different...
294106, B25B 1100
Patent
active
039528804
ABSTRACT:
A manipulator is shown of the type which includes an effector, such as a hand, comprising a pair of jaws relatively pivotally movable between open and closed positions under operation of power means such as an electric motor. Sensing means, for sensing both magnitude and direction of forces along three mutually orthogonal axes intersecting at the wrist and for sensing magnitude and direction of torques about said axes, are provided at the wrist intermediate to the manipulator hand and hand supporting means. The sensing means includes a plurality of sensing units radially spaced from the longitudinal axis of the manipulator at equal distances therefrom. In an exemplary arrangement, four such orthogonally located sensing units are employed, each of which includes a radially extending opaque pin carried by the manipulator arm or hand. Each pin extends into a clearance hole formed in an energy source and detector housing carried by the other of the arm and hand. The housings also are formed with passages which intersect the pin receiving hole and along which passages an associated energy source and energy detector are located, with the energy from the source being directed toward the energy detector. A portion of the energy from each of the sources is blocked by the pin such that only the unobstructed portion of the energy from the source reaches the detector. The amount of shadowing of energy by the pins depends upon forces and torques applied to the hand, and the outputs from the detectors are combined in such a manner as to provide output signals representative of the three components of force at the wrist corresponding to reach, lift and sweep directions of hand motion and the three components of torque corresponding to twist, turn and tilt of the hand. Also, the hand and power means for operation of the hand are located at opposite sides of the wrist, such that the power means functions as a counterweight to balance the weight of the hand. Consequently, the hand weight is not reflected in the outputs of the torque sensors.
REFERENCES:
patent: 3509583 (1970-05-01), Frioli
patent: 3759563 (1973-09-01), Kitamura
Hill John W.
Sword Antony J.
Beckman Victor R.
Goodman Philip
Stanford Research Institute
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