Measuring and testing – Dynamometers – Responsive to multiple loads or load components
Patent
1988-05-24
1991-01-08
Noland, Tom
Measuring and testing
Dynamometers
Responsive to multiple loads or load components
7386254, 901 46, G01L 516
Patent
active
049826115
ABSTRACT:
A sensor tip (10) for use in a robotic hand has a three-dimensional compliant elastomeric body (12) with an outer boundary (22) having a circular base (24) and a convex surface (26) extending therefrom. Four strain transducers (14, 16, 18, and 20) produce electrical signals indicative of the strain at various positions near the boundary of the elastomeric body (12) resulting from forces exerted upon the sensor tip (10) by an object which the robotic hand is manipulating. The transducers (14, 16, 18, and 20) are positioned about the convex surface (26) so as to produce signals that may be decoupled to determine the normal and tangential forces and the applied torque. A signal amplifier (34) and computer (36) may be incorporated for the decoupling of the signals produced by the transducers (14, 16, 18, and 20) into the four components. The sensor tip can be produced at relatively low cost, requiring only low precision manufacturing processes.
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Lorenz Robert D.
Van De Riet Douglas M.
Noland Tom
Wisconsin Alumni Research Foundation
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