Measuring and testing – Dynamometers – Responsive to multiple loads or load components
Patent
1985-03-06
1987-02-03
Ruehl, Charles A.
Measuring and testing
Dynamometers
Responsive to multiple loads or load components
7386265, G01L 516
Patent
active
046401385
ABSTRACT:
A load sensitive transducer designed primarily for use in sensing loads in all operational axes necessary to determine loads and forces on a transducer used on tools that are supported on a robot arm. The transducer is a one-piece machined construction to provide for very low hysteresis in operation, as well as obtaining long life by eliminating welding, brazing, adhesives or bolted joints. The transducer will provide six measurements including moments and axial measurements in the three principal axes (X, Y and Z), very low cross talk or likelihood of affecting the reading in one axis from loads in another axis because of the isolation features obtained by using flexure bending beams for the supports for the load carrying member. The integral machined structure permits a small package size that has low axial length and small diameter size to reduce the ultimate loads on the robot arm, and the unit as made provides very high stiffness in all axes.
REFERENCES:
patent: 3377849 (1968-04-01), Lebow
patent: 3693425 (1972-09-01), Starita et al.
patent: 3780573 (1973-12-01), Reus
patent: 3867838 (1975-02-01), Gerresheim
Controlling a Robot's Motion Speed by a Force-Torque-Sensor for Deburring Problems, Plank et al., presented at the 4th IFAC-IFIP Symposium on Information Control Problems in Manufacturing Technology, 11-14 Oct. 1982, Gaithersburg, Md., USA.
Direct Digital Robot Control Using a Force-Torque Sensor, G. Hirzinger, IFAC Symposium on Real Time Digital Control Applications, Guadalajara, Mexico, Jan. 15-21, 1983.
Some Principles of Transducer Design, Instrument Society of America Conference Preprint, Summer Instrument-Automation Conference and Exhibit, Toronto, Ontario, Canada, Jun. 5-8, 1961.
Model FS6-120A, Astek 6-Axis Force Sensor brochure, published 2-83.
Unique Solutions to Measurement Problems, brochure by Robert A. Denton, Inc., publication date unknown.
Lowe Anthony E.
Meyer Richard A.
MTS Systems Corporation
Ruehl Charles A.
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