公开(公告)号：FR2520279A1

公开(公告)日：1983-07-29

申请号：FR8201326

申请日：1982-01-28

Applicant: COMMISSARIAT ENERGIE ATOMIQUE

Inventor： MOUHAMED MAYEZ AL ,  CSAKVARY ETIENNE ,  COSNAC BERTRAND DE ,  NOEL JEAN-PAUL

IPC: B25J15/00 ,  B25J9/16 ,  B25J13/08 ,  B25J15/02 ,  B25J15/08 ,  B25J19/02 ,  G01L5/00 ,  B25J19/00

Abstract: A measured-force gripper device of articulated structure having several degrees of freedom and interposed between the contact plate and its support, the device comprising two fingers which can be displaced to grasp an article to be handled, each finger being formed by a support, a contact plate which contacts the article to be handled, an articulated structure, which has several degrees of freedom and is interposed between the contact plate and the support, and a displacement-measuring pickup associated with each of the degrees of freedom of each finger, the pickup delivering information related exclusively to the movements carried out in accordance with that degree of freedom.

公开(公告)号：DE2413136A1

公开(公告)日：1974-10-24

申请号：DE2413136

申请日：1974-03-19

Applicant: COMMISSARIAT ENERGIE ATOMIQUE

Inventor： CSAKVARY ETIENNE ,  PASCAL ANDRE

IPC: G01M1/12 ,  A61B5/107 ,  G01G9/00 ,  G01G19/00 ,  G01D21/00

Abstract: A line body portion is subjected to a beam z or parallel beams of electromagnetic radiation having transverse dimensions which are smaller than those of the body portion. The beam is displaced in space in order to sweep the entire volume of the body portion and the attenuation resulting from the passage of the beam through the body is measured in respect of each position of the beam. The mass of the unitary volume of the body portion traversed by the beam is deduced from the measurement, the total mass thereof and the position of its center of gravity being then calculated from a knowledge of the mass of each unitary volume.

公开(公告)号：FR2311357A1

公开(公告)日：1976-12-10

申请号：FR7515461

申请日：1975-05-16

Applicant: COMMISSARIAT ENERGIE ATOMIQUE

Inventor： CSAKVARY ETIENNE ,  MALLIER GILBERT ,  ROCHE PIERRE

IPC: G06F17/17 ,  G06F15/32 ,  H03K13/02

Abstract: A smoothing device for signals in real time uses a formula for sampling an analogue signal which is a function of the parameter (t) for certain discrete values of t, to give a constant line interval. This device has a numerical analogue converter which converts signal amplitudes corresponding to the various discrete values of t into given numerical values. This device has a K shift register a sequential register input arrangement and an electronic adding and subtracting system. An arrangement of K values is calculated by a pair of formulae using certain sums of the zero, second and fourth powers of whole final numbers and using the corresponding different moments.

公开(公告)号：DE3362847D1

公开(公告)日：1986-05-15

申请号：DE3362847

申请日：1983-01-21

Applicant: COMMISSARIAT ENERGIE ATOMIQUE

Inventor： MOUHAMED MAYEZ AL ,  CSAKVARY ETIENNE ,  DE COSNAC BERTRAND ,  NOEL JEAN-PAUL

IPC: B25J15/00 ,  B25J9/16 ,  B25J13/08 ,  B25J15/02 ,  B25J15/08 ,  B25J19/02 ,  G01L5/00 ,  B25J19/00

Abstract: A measured-force gripper device of articulated structure having several degrees of freedom and interposed between the contact plate and its support, the device comprising two fingers which can be displaced to grasp an article to be handled, each finger being formed by a support, a contact plate which contacts the article to be handled, an articulated structure, which has several degrees of freedom and is interposed between the contact plate and the support, and a displacement-measuring pickup associated with each of the degrees of freedom of each finger, the pickup delivering information related exclusively to the movements carried out in accordance with that degree of freedom.