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    SIX DEGREE OF FREEDOM FORCE TRANSDUCER FOR A MANIPULATOR SYSTEM
    1.
    发明专利
    SIX DEGREE OF FREEDOM FORCE TRANSDUCER FOR A MANIPULATOR SYSTEM 未知

    公开(公告)号：CA1048811A

    公开(公告)日：1979-02-20

    申请号：CA254964

    申请日：1976-06-16

    Applicant: IBM

    Inventor： FOLCHI GEORGE A ,  SHELTON GLENMORE L JR ,  WANG SHERMAN S M

    IPC: B25J9/04 ,  B25J9/18 ,  B25J13/08 ,  B25J19/02 ,  G01L5/16 ,  G01L5/22

    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.

    COMPUTER CONTROLLED PNEUMATIC RETRACTABLE SEARCH SENSOR
    5.
    发明专利
    COMPUTER CONTROLLED PNEUMATIC RETRACTABLE SEARCH SENSOR 未知

    公开(公告)号：CA1079834A

    公开(公告)日：1980-06-17

    申请号：CA249390

    申请日：1976-04-01

    Applicant: IBM

    Inventor： FOLCHI GEORGE A ,  WANG SHERMAN S ,  WILL PETER M ,  ZLOOF MOSHE M

    IPC: B25J9/16 ,  B25J13/08 ,  G05D3/00

    Abstract: A COMPUTER CONTROLLED PNEUMATIC RETRACTABLE SEARCH SENSOR A mechanical manipulator which includes fingers under the control of a computer antenna sensing means mounted on such fingers and extended and retracted from the fingers under the control of the computer means for detecting the contact or proximity of the extended antenna sensing means with a workpiece means responsive to the antenna sensing means for retracting the sensing means from interference with the workpiece and for adjusting the control of the fingers. The fingers are adapted for X Y and Z linear motions and provides pitch yaw and roll angular motion. The retractable antenna sensing means resembles a whisker which extends from the finger and makes contact with or approaches the workpiece. The antenna sensing means may include a retractable pneumatic back pressure sensor via the back pressure of a fluid in the supply created when the fluid impinges on the workpiece. The retractable antenna whisker bends more readily than the rigid finger. Therefore contact with an object will not cause displacement of the object as a rigid finger would. Computer logic circuits receive signals representing the displacement and positions of both the antenna sensing means as well as the manipulator fingers and coordinates both sets of signals to determine the orientation and position of the workpiece and the shape of the workpiece.

    6.
    发明专利
    未知

    公开(公告)号：FR2316589A1

    公开(公告)日：1977-01-28

    申请号：FR7615574

    申请日：1976-05-17

    Applicant: IBM

    Inventor： FOLCHI GEORGE A ,  SHELTON GLENMORE L JR ,  WANG SHERMAN S

    IPC: B25J9/04 ,  B25J9/18 ,  B25J13/08 ,  B25J19/02 ,  G01L5/16 ,  G01L5/22 ,  G01L1/22 ,  B25J19/00 ,  G01B7/00

    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.

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