Pickup for measuring forces and torques and application of such

Details Pickup for measuring forces and torques and application of such Pickup for measuring forces and torques and application of such

1986-10-24

1987-11-17

Ruehl, Charles A.

Measuring and testing

Dynamometers

Responsive to multiple loads or load components

7386265, G01L 516, G01L 122

Patent

active

047065060

ABSTRACT:
The base module of the pickup comprises two U-shaped supports, each having two measuring branches connected by an intermediate branch. These parts are placed in inverted manner, so that their longitudinal axes of symmetry Z coincide and their planes of symmetry XZ and YZ are orthogonal. Cylindrical links are provided between the ends of the measuring branches of each of the parts and the intermediate branch of the other part. By placing strain gauges on the measuring branches, it is possible to determine with very reduced overall dimensions the forces in three axes X, Y and Z and the moments of the torques about axes X and Y. Such a module, optionally completed by an auxiliary device for measuring the moment of the torque about axis Z can advantageously be used in a follower or in each of the fingers of a gripper, so as to obtain information on the contact torsor between the follower and the object or the gripper and the object.

REFERENCES:
patent: 3434342 (1969-03-01), Kazmarek
patent: 3561263 (1971-02-01), Ward et al.
patent: 4178799 (1979-12-01), Schmieder et al.
patent: 4367532 (1983-01-01), Crum et al.
patent: 4478089 (1984-10-01), Aviles et al.
patent: 4520679 (1985-06-01), Hatamura
"A new device for simultaneous measurement of friction force, normal force and friction coefficient" by Mittmann et al., Wear, vol. 31, No. 1, (Jan. 1975), pp. 179-184.

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