Slippage sensors for object-gripping mechanisms in automated mac

Details Slippage sensors for object-gripping mechanisms in automated mac Slippage sensors for object-gripping mechanisms in automated mac

1986-05-22

1988-06-21

Westin, Edward P.

Radiant energy

Photocells; circuits and apparatus

Optical or pre-photocell system

250225, 250231P, 901 47, B25J 1500, G01L 124

Patent

active

047526823

ABSTRACT:
A slippage sensor comprises a light-transmissive elastic component (14) defining an object-contactor face (15), input and output light guide (16a, 16b) defining a light transmission path through the component, and an indicator (19) connected with the output guide to detect transmission variations caused by elastic deformation of the component due, in turn, to relative slipping movement of an object (10) contacted thereby. In one form of sensor the input/output guides define a light path discontinous at the contactor face and to be completed by a surface (13) of the object as a reflector. In another form the component carries a reflector deformable therewith. In a further form the component is photoelastic and the input/output guides include polarisers. The sensor is useful to indicate when a minimum object gripping force is attained or it can indicate object characterisation.

REFERENCES:
patent: 3904234 (1975-09-01), Hill et al.
patent: 4439674 (1984-03-01), Amberny et al.
patent: 4556791 (1985-12-01), Spillman, Jr.
patent: 4593191 (1986-06-01), Alles
Schneiter et al., "An Optical Tactile Sensor for Manipulators", Robotics & Computer-Integrated Manufacturing, vol. 1, No. 1, pp. 65-71, 1984.

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