公开(公告)号：WO1995003527A1

公开(公告)日：1995-02-02

申请号：PCT/US1994008149

申请日：1994-07-20

Applicant: SPACEBALL TECHNOLOGIES, INC.

Inventor： SPACEBALL TECHNOLOGIES, INC. ,  HILTON, John, A.

IPC: G01D07/00

CPC classification number: G01L1/248 ,  G01D5/34 ,  G01L5/161 ,  G01L5/166 ,  G01L5/223 ,  G06F3/03543 ,  G06F3/038 ,  G06F3/041 ,  G06F3/0414 ,  Y10T74/20201

Abstract: A force and torque converter (1) is provided that senses force and torque applied to the device (1). The converter (1) includes a base (10), a grip (9), resilient connection members (2, 4, 6) that extend radially and coplanarly from a central hub (8), located within the grip (9), and that connect to the grip, and sensing mechanisms to sense the displacement of the connection members (2, 4, 6). The displacements are resolved to determine the force and torque that is applied to the device (1), with respect to a Cartesian coordinate system.

Abstract translation: 提供力和变矩器（1），其感测施加到装置（1）的力和扭矩。 转换器（1）包括基部（10），手柄（9），弹性连接构件（2,4,6），其从位于手柄（9）内的中心毂（8）径向地和共面地延伸，以及 连接到把手的感测机构，以及用于感测连接构件（2,4,6）的位移的感测机构。 解决位移以确定相对于笛卡尔坐标系施加到装置（1）的力和扭矩。

公开(公告)号：WO1993004348A1

公开(公告)日：1993-03-04

申请号：PCT/US1992006961

申请日：1992-08-21

Applicant: SPACEBALL TECHNOLOGIES, INC. ,  HILTON, John, A.

Inventor： SPACEBALL TECHNOLOGIES, INC.

IPC: G01L05/22

CPC classification number: G06F3/038 ,  G01L1/248 ,  G01L5/161 ,  G01L5/166 ,  G01L5/223 ,  G06F3/03543 ,  G06F3/0414

Abstract: A force and torque converter is provided which provides an electronic representation of a planarly applied force and a torque applied about an axis that is orthogonal to the plane. The converter includes a base, an actuating member which is relatively displaced in response to the applied torque and force, resilient mechanisms to provide a restoring force and torque to the actuating member, and sensing mechanisms to sense the applied torque and force and generate an electronic representation thereof. The electronic representation is characterized by a sensitivity curve in which relatively small applied forces and torques result in a relatively low scale factor and where for a range of small applied forces and torques the relation of scale factor with respect to applied torque and force has a relatively low derivative. Further, for a range of larger applied forces and torques, the sensitivity curve has a relatively large scale factor and a relatively large derivative. In one embodiment, the sensitivity curve is implemented by a processing mechanism which includes a microprocessor and firmware.

Abstract translation: 提供了力和液力变矩器，其提供平面施加的力的电子表示和围绕正交于该平面的轴施加的扭矩。 转换器包括基座，响应于施加的扭矩和力相对移位的致动构件，用于向致动构件提供恢复力和扭矩的弹性机构，以及感测施加的扭矩和力并产生电子的感测机构 表示。 电子表示的特征在于灵敏度曲线，其中相对小的施加力和扭矩导致相对低的比例因子，并且对于小的施加力和扭矩的范围，比例因子与施加的扭矩和力的关系具有相对的 低衍生。 此外，对于较大的施加力和扭矩的范围，灵敏度曲线具有相对较大的比例因子和相对较大的导数。 在一个实施例中，灵敏度曲线由包括微处理器和固件的处理机构实现。