Six degree of freedom force transducer for a manipulator system

Details Six degree of freedom force transducer for a manipulator system Six degree of freedom force transducer for a manipulator system

1975-06-30

1976-04-06

Ruehl, Charles A.

Measuring and testing

Brake testing

Single wheel rotating and resistance measuring means

G01L 516

Patent

active

039480933

ABSTRACT:
A six degree of freedom force transducer is provided on a manipulator's hand and includes a plurality of I-beam modules having strain gauges on the flat surfaces of the thin legs of each I-beam for measuring the bending moments of each leg. According to one embodiment, a pair of strain gauges are located on each side of the leg, providing a total of four gauges in each leg. The end bells of each I-beam are adapted to be rigidly interconnected with either other I-beams, structural members of the manipulator fingers, the drive member for the manipulator, or to intermediate coupling blocks designed to rigidly interconnect I-beams. A plurality of I-beams and interconnecting blocks can be connected in various configurations to provide a determination by the strain gauges of the six components of forces and moments which are applied by forces and moments on the fingers of the manipulator system. The I-beams and interconnecting blocks are arranged in x-y-z orthogonal directions such that the structural stiffness is in the same order in different directions. The moment at each basic module can be measured by the voltage output of a bridge associated with the strain gauges. In this fashion, a determination of the position and orientation of an object in the manipulator's hand can be readily provided by a computer which solves the force and moment equilibrium equations associated with the I-beam strain gauges.

REFERENCES:
patent: 3613443 (1971-10-01), Curry
patent: 3628394 (1971-12-01), Keatinge et al.
patent: 3771359 (1973-11-01), Shoberg
patent: 3879995 (1975-04-01), Libertiny

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