IT1129409B - Trasduttore a sei gradi di liberta per convertire in segnali elettrici le forze ed i momenti applicati ad un organo mobile particolarmente al braccio mobile di un robot - Google Patents

Trasduttore a sei gradi di liberta per convertire in segnali elettrici le forze ed i momenti applicati ad un organo mobile particolarmente al braccio mobile di un robot

Info

Publication number
IT1129409B
IT1129409B IT67359/80A IT6735980A IT1129409B IT 1129409 B IT1129409 B IT 1129409B IT 67359/80 A IT67359/80 A IT 67359/80A IT 6735980 A IT6735980 A IT 6735980A IT 1129409 B IT1129409 B IT 1129409B
Authority
IT
Italy
Prior art keywords
mobile
robot
freedom
convert
forces
Prior art date
Application number
IT67359/80A
Other languages
English (en)
Other versions
IT8067359A0 (it
Inventor
Giorgio Venturello
Osvaldo Salvatore
Original Assignee
Fiat Ricerche
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fiat Ricerche filed Critical Fiat Ricerche
Priority to IT67359/80A priority Critical patent/IT1129409B/it
Publication of IT8067359A0 publication Critical patent/IT8067359A0/it
Priority to GB8100965A priority patent/GB2072345B/en
Priority to US06/231,065 priority patent/US4369663A/en
Priority to DE3107925A priority patent/DE3107925C2/de
Priority to JP3191181A priority patent/JPS56139891A/ja
Priority to SU813257579A priority patent/SU1082337A3/ru
Priority to FR8104560A priority patent/FR2477707A1/fr
Application granted granted Critical
Publication of IT1129409B publication Critical patent/IT1129409B/it

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
    • G01L5/165—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in capacitance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L1/00—Measuring force or stress, in general
    • G01L1/14—Measuring force or stress, in general by measuring variations in capacitance or inductance of electrical elements, e.g. by measuring variations of frequency of electrical oscillators
    • G01L1/142—Measuring force or stress, in general by measuring variations in capacitance or inductance of electrical elements, e.g. by measuring variations of frequency of electrical oscillators using capacitors
    • G01L1/144—Measuring force or stress, in general by measuring variations in capacitance or inductance of electrical elements, e.g. by measuring variations of frequency of electrical oscillators using capacitors with associated circuitry
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G9/04737—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks with six degrees of freedom

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Power Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
IT67359/80A 1980-03-07 1980-03-07 Trasduttore a sei gradi di liberta per convertire in segnali elettrici le forze ed i momenti applicati ad un organo mobile particolarmente al braccio mobile di un robot IT1129409B (it)

Priority Applications (7)

Application Number Priority Date Filing Date Title
IT67359/80A IT1129409B (it) 1980-03-07 1980-03-07 Trasduttore a sei gradi di liberta per convertire in segnali elettrici le forze ed i momenti applicati ad un organo mobile particolarmente al braccio mobile di un robot
GB8100965A GB2072345B (en) 1980-03-07 1981-01-13 Transducer with six degrees of freedom
US06/231,065 US4369663A (en) 1980-03-07 1981-02-03 Transducer with six degrees of freedom
DE3107925A DE3107925C2 (de) 1980-03-07 1981-03-02 Mechanisch/elektrischer Wandler mit sechs Freiheitsgraden
JP3191181A JPS56139891A (en) 1980-03-07 1981-03-05 Transducer having six degree of freedom for converting force applied to movable arm of robot and moment into electrical signal
SU813257579A SU1082337A3 (ru) 1980-03-07 1981-03-06 Датчик с шестью степен ми свободы
FR8104560A FR2477707A1 (fr) 1980-03-07 1981-03-06 Transducteur a six degres de liberte pour convertir des forces et des couples en signaux electriques

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT67359/80A IT1129409B (it) 1980-03-07 1980-03-07 Trasduttore a sei gradi di liberta per convertire in segnali elettrici le forze ed i momenti applicati ad un organo mobile particolarmente al braccio mobile di un robot

Publications (2)

Publication Number Publication Date
IT8067359A0 IT8067359A0 (it) 1980-03-07
IT1129409B true IT1129409B (it) 1986-06-04

Family

ID=11301737

Family Applications (1)

Application Number Title Priority Date Filing Date
IT67359/80A IT1129409B (it) 1980-03-07 1980-03-07 Trasduttore a sei gradi di liberta per convertire in segnali elettrici le forze ed i momenti applicati ad un organo mobile particolarmente al braccio mobile di un robot

Country Status (7)

Country Link
US (1) US4369663A (it)
JP (1) JPS56139891A (it)
DE (1) DE3107925C2 (it)
FR (1) FR2477707A1 (it)
GB (1) GB2072345B (it)
IT (1) IT1129409B (it)
SU (1) SU1082337A3 (it)

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DE3211992A1 (de) * 1982-03-31 1983-10-06 Wagner Gmbh J Verfahren und vorrichtung zum programmieren eines roboters, insbesondere farbspritzroboters
GB2123157B (en) * 1982-06-22 1986-10-15 Peter Caleb Frederi Wolfendale Load cells
CH651928A5 (fr) * 1983-02-23 1985-10-15 Christof W Burckhardt Dispositif de mesure de force.
US4591944A (en) * 1984-09-10 1986-05-27 Gmf Robotics Corporation Electronic circuit for tactile sensors
US5706027A (en) * 1985-12-18 1998-01-06 Spacetec Imc Corporation Force and torque converter for use in a computer input device
DE3606685A1 (de) * 1986-02-28 1987-09-03 Forsch Steuerungstechnik Der W Vorrichtung zur handfuehrung eines industrieroboters
DE69116901T2 (de) * 1990-02-27 1996-07-18 Toshiba Kawasaki Kk Robotersteuerung
US5146566A (en) * 1991-05-29 1992-09-08 Ibm Corporation Input/output system for computer user interface using magnetic levitation
US6906700B1 (en) 1992-03-05 2005-06-14 Anascape 3D controller with vibration
US5589828A (en) * 1992-03-05 1996-12-31 Armstrong; Brad A. 6 Degrees of freedom controller with capability of tactile feedback
US6343991B1 (en) * 1997-10-01 2002-02-05 Brad A. Armstrong Game control with analog pressure sensor
US6222525B1 (en) 1992-03-05 2001-04-24 Brad A. Armstrong Image controllers with sheet connected sensors
US5687080A (en) * 1995-06-20 1997-11-11 Ziba Design, Inc. Multiple axis data input apparatus and method
US8674932B2 (en) * 1996-07-05 2014-03-18 Anascape, Ltd. Image controller
US20040160414A1 (en) * 1996-07-05 2004-08-19 Armstrong Brad A. Image controller
US6351205B1 (en) * 1996-07-05 2002-02-26 Brad A. Armstrong Variable-conductance sensor
US6456778B2 (en) 1997-10-01 2002-09-24 Brad A. Armstrong Analog controls housed with electronic displays for video recorders and cameras
US7293467B2 (en) * 2001-07-09 2007-11-13 Nartron Corporation Anti-entrapment system
US7132642B2 (en) * 2001-07-09 2006-11-07 Nartron Corporation Anti-entrapment systems for preventing objects from being entrapped by translating devices
US6499359B1 (en) * 2001-07-09 2002-12-31 Nartron Corporation Compressible capacitance sensor for determining the presence of an object
US7162928B2 (en) * 2004-12-06 2007-01-16 Nartron Corporation Anti-entrapment system
US20050038563A1 (en) * 2003-08-16 2005-02-17 Abdul Rauf Device and method for kinematic calibration of robots
ATE389882T1 (de) * 2004-06-09 2008-04-15 Eth Zuerich Mehrachsiger kapazitiver wandler
US7312591B2 (en) 2005-03-11 2007-12-25 Npc Corporation Powered panel moving system
US7752920B2 (en) * 2005-12-30 2010-07-13 Intuitive Surgical Operations, Inc. Modular force sensor
US8496647B2 (en) 2007-12-18 2013-07-30 Intuitive Surgical Operations, Inc. Ribbed force sensor
KR101296220B1 (ko) * 2005-12-30 2013-08-13 인튜어티브 서지컬 인코포레이티드 모듈식 힘센서
US7342373B2 (en) * 2006-01-04 2008-03-11 Nartron Corporation Vehicle panel control system
US8561473B2 (en) 2007-12-18 2013-10-22 Intuitive Surgical Operations, Inc. Force sensor temperature compensation
EP2573534A1 (en) 2011-09-20 2013-03-27 General Electric Company Multi degree of freedom transducer
CN105204394B (zh) * 2015-08-26 2017-08-08 电子科技大学 一种六自由度咀嚼机器人的控制系统
CN107036754B (zh) * 2017-05-22 2022-12-02 华中科技大学 一种能感知接触力和牵引力的六维力传感器
JP7114706B2 (ja) 2017-11-14 2022-08-08 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 分割ブリッジ回路力センサ
JP6339304B1 (ja) * 2018-02-06 2018-06-06 株式会社トライフォース・マネジメント 力覚センサ装置
US12379267B2 (en) 2019-11-15 2025-08-05 Intuitive Surgical Operations, Inc. Spread bridge XY force sensor
JP7587915B2 (ja) * 2021-01-15 2024-11-21 株式会社Fuji 力覚センサ、協働ロボット及びロボット

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GB731190A (en) * 1952-01-17 1955-06-01 Cie Generale Electro Ceramique Improvements in and relating to electrical devices for measuring forces
US2892152A (en) * 1953-09-22 1959-06-23 Buisson Pierre System for measuring small displacements of a body along three coordinate axes
US3109984A (en) * 1958-05-28 1963-11-05 Perkin Elmer Corp Servomechanism hand control
BE793568A (fr) * 1971-12-30 1973-04-16 Western Electric Co Procede de surveillance de la capacite et de l'excentricite d'un cable coaxial pendant l'extrusion de l'isolant
GB1368145A (en) * 1972-12-04 1974-09-25 Cape Eng Co Ltd Capacitive transducer
US3921445A (en) * 1973-10-15 1975-11-25 Stanford Research Inst Force and torque sensing method and means for manipulators and the like
FR2267620A1 (en) * 1974-04-11 1975-11-07 Herve Marcel Linear displacement capacitive transducer - has four tubular in-line bodies around mobile capacitor shaft
US4132318A (en) * 1976-12-30 1979-01-02 International Business Machines Corporation Asymmetric six-degree-of-freedom force-transducer system for a computer-controlled manipulator system
DK139644B (da) * 1976-12-30 1979-03-19 Nils Aage Juul Eilersen Kapacitiv kraftmåler.
US4099409A (en) * 1977-07-05 1978-07-11 The Bendix Corporation Multi-axis load cell with arcuate flexures

Also Published As

Publication number Publication date
DE3107925A1 (de) 1982-01-14
US4369663A (en) 1983-01-25
FR2477707B1 (it) 1984-02-17
GB2072345B (en) 1983-12-07
DE3107925C2 (de) 1983-07-21
JPS56139891A (en) 1981-10-31
SU1082337A3 (ru) 1984-03-23
GB2072345A (en) 1981-09-30
IT8067359A0 (it) 1980-03-07
FR2477707A1 (fr) 1981-09-11

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