Prehension unit and manipulator apparatus including optical sens

Details Prehension unit and manipulator apparatus including optical sens Prehension unit and manipulator apparatus including optical sens

1981-07-06

1984-03-27

Nelms, David C.

Radiant energy

Photocells; circuits and apparatus

Optical or pre-photocell system

3 127, 414 5, A61F 106, G02B 514

Patent

active

044396740

ABSTRACT:
A prehension unit suitable for use as a finger in a manipulator hand has a supporting body, a contact element carried by the supporting body through a resilient material and defining with the body a closed space. Optical sensors cooperate with a locally light reflecting surface of the contact element. Each sensor comprises an optical fiber for transmitting light from a remote transducer to an end portion terminating in the supporting body in front of the contact element surface and an optical fiber for collecting the light reflected by the surface and conveying it to a remote light sensitive transducer. The movements of the locally reflecting surface, due to axial, radial and/or angular movements of the contact element which results in a change of the amount of reflected light collected by the second fiber may be detected. The manipulator apparatus may be provided with motors for restoring the unit to a position for which no force is exerted by an object to be seized on the contact element.

REFERENCES:
patent: 3921445 (1975-11-01), Hill et al.
patent: 3937952 (1976-02-01), Ripley et al.
patent: 3952880 (1976-04-01), Hill et al.
Bejczy, "Effect of Hand-Based Sensors on Manipulator Control Performance", Mechanism and Machine Theory, 1977, vol. 12, #5, pp. 547-567, Pergamon Press.

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