WO2008015460A3 - Force transducer, force sensor and programmable emulator - Google Patents

Force transducer, force sensor and programmable emulator Download PDF

Info

Publication number
WO2008015460A3
WO2008015460A3 PCT/GB2007/002971 GB2007002971W WO2008015460A3 WO 2008015460 A3 WO2008015460 A3 WO 2008015460A3 GB 2007002971 W GB2007002971 W GB 2007002971W WO 2008015460 A3 WO2008015460 A3 WO 2008015460A3
Authority
WO
WIPO (PCT)
Prior art keywords
force
members
transducer
programmable emulator
force transducer
Prior art date
Application number
PCT/GB2007/002971
Other languages
French (fr)
Other versions
WO2008015460A2 (en
Inventor
William Bigge
Original Assignee
Univ Sussex Intellectual Prope
William Bigge
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 Univ Sussex Intellectual Prope, William Bigge filed Critical Univ Sussex Intellectual Prope
Publication of WO2008015460A2 publication Critical patent/WO2008015460A2/en
Publication of WO2008015460A3 publication Critical patent/WO2008015460A3/en

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
    • G01L3/02—Rotary-transmission dynamometers
    • G01L3/04—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft
    • G01L3/10—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating
    • G01L3/107—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating involving potentiometric 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • 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
    • G01L1/04—Measuring force or stress, in general by measuring elastic deformation of gauges, e.g. of springs
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
    • G01L3/02—Rotary-transmission dynamometers
    • G01L3/14—Rotary-transmission dynamometers wherein the torque-transmitting element is other than a torsionally-flexible shaft
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
    • G01L3/02—Rotary-transmission dynamometers
    • G01L3/14—Rotary-transmission dynamometers wherein the torque-transmitting element is other than a torsionally-flexible shaft
    • G01L3/1478—Rotary-transmission dynamometers wherein the torque-transmitting element is other than a torsionally-flexible shaft involving hinged levers
    • 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
    • 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
    • G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
    • 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
    • G01L5/24—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for determining value of torque or twisting moment for tightening a nut or other member which is similarly stressed
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37357—Force, pressure, weight or deflection

Abstract

A force transducer, a force sensor and a programmable emulator, the force transducer comprising : first and second members which are coupled such as to be movable in one axis relative to one another; and a deformable elastic element which is disposed between the first and second members, such that a force as applied to one of the first and second members causes deformation of the elastic element and is transferred to the other of the first and second members, with the relative deflection of the first and second members corresponding to the applied force.
PCT/GB2007/002971 2006-08-04 2007-08-06 Force transducer, force sensor and programmable emulator WO2008015460A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB0615526A GB2440753A (en) 2006-08-04 2006-08-04 Force sensor and programmable spring emulator
GB0615526.1 2006-08-04

Publications (2)

Publication Number Publication Date
WO2008015460A2 WO2008015460A2 (en) 2008-02-07
WO2008015460A3 true WO2008015460A3 (en) 2008-12-11

Family

ID=37027252

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/GB2007/002971 WO2008015460A2 (en) 2006-08-04 2007-08-06 Force transducer, force sensor and programmable emulator

Country Status (2)

Country Link
GB (1) GB2440753A (en)
WO (1) WO2008015460A2 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7177698B2 (en) 2017-03-24 2022-11-24 レインボー ロボティックス SERIAL ELASTIC ACTUATOR DEVICE, SERIAL ELASTIC ACTUATOR CONTROL METHOD, AND SYSTEM USING THE SAME

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7644628B2 (en) 2005-12-16 2010-01-12 Loadstar Sensors, Inc. Resistive force sensing device and method with an advanced communication interface
HUP1200012A2 (en) 2012-01-05 2013-07-29 Pazmany Peter Katolikus Egyetem Traction mechanism
US9409298B2 (en) 2012-04-13 2016-08-09 Rethink Robotics, Inc. Flexure elements for series elastic actuators and related methods
DE102014215723A1 (en) * 2014-08-08 2016-02-11 Siemens Aktiengesellschaft Sensor device with a sensor element for mechanical stresses and grippers with mechanical gripping members
JP5906295B1 (en) * 2014-09-17 2016-04-20 Ｋｙｂ株式会社 Displacement sensor inspection apparatus and inspection method thereof
EP3684559A2 (en) * 2017-09-18 2020-07-29 University Of Plymouth Robotic arm
US11413769B1 (en) * 2018-09-24 2022-08-16 Quantum Innovations, Inc. End effector assembly and method for robot-enabled manipulation of round objects

Citations (9)

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Publication number Priority date Publication date Assignee Title
US2814187A (en) * 1956-05-23 1957-11-26 Mesrop K Babaian Flexible coupling
US4399685A (en) * 1981-02-09 1983-08-23 Dover Corporation Force and kinetic energy measuring device
US5014560A (en) * 1989-05-11 1991-05-14 Sundstrand Corporation Torque measuring apparatus
US5152182A (en) * 1991-04-17 1992-10-06 Vibrac Corporation Torque measuring apparatus
EP0555908A1 (en) * 1992-02-14 1993-08-18 L.V.D. Company N.V. Folding robot
US5650704A (en) * 1995-06-29 1997-07-22 Massachusetts Institute Of Technology Elastic actuator for precise force control
EP0852789A1 (en) * 1995-09-27 1998-07-15 Immersion Human Interface Corporation Method and apparatus for controlling force feedback interface systems utilizing a host computer
US6105737A (en) * 1996-06-05 2000-08-22 Varity Kelsey-Hayes Gmbh Programmable electronic pedal simulator
US20030003426A1 (en) * 1994-05-19 2003-01-02 Microsoft Corporation Interactive simulation including force feedback

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US3705530A (en) * 1970-12-14 1972-12-12 Collins Radio Co Force hub sensor for control wheel steering
JP2884768B2 (en) * 1989-12-08 1999-04-19 株式会社デンソー Steering torque detector
DE4338279C1 (en) * 1993-11-10 1995-02-16 Deutsche Aerospace Two-axis rate gyro with elastic articulation parts
FR2812356B1 (en) * 2000-07-28 2002-12-06 Roulements Soc Nouvelle BEARING COMPRISING AT LEAST ONE ELASTIC DEFORMATION ZONE AND BRAKING ASSEMBLY COMPRISING SAME
DE10210923B4 (en) * 2002-03-13 2004-08-12 Demag Ergotech Gmbh Pressure measuring device for an injection molding machine
DE10303706A1 (en) * 2003-01-30 2005-04-14 Siemens Ag Force measurement arrangement, comprises a compact arrangement of force application bolt, force receiving base part, meander spring for force transfer between the two and a linear displacement sensor for the force application bolt
FR2858673B1 (en) * 2003-08-07 2007-04-27 Soc Technologie Michelin Stm ELASTIC ASSEMBLY JOINT AND USE THEREOF FOR MEASURING MOVEMENT OR EFFORT

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2814187A (en) * 1956-05-23 1957-11-26 Mesrop K Babaian Flexible coupling
US4399685A (en) * 1981-02-09 1983-08-23 Dover Corporation Force and kinetic energy measuring device
US5014560A (en) * 1989-05-11 1991-05-14 Sundstrand Corporation Torque measuring apparatus
US5152182A (en) * 1991-04-17 1992-10-06 Vibrac Corporation Torque measuring apparatus
EP0555908A1 (en) * 1992-02-14 1993-08-18 L.V.D. Company N.V. Folding robot
US20030003426A1 (en) * 1994-05-19 2003-01-02 Microsoft Corporation Interactive simulation including force feedback
US5650704A (en) * 1995-06-29 1997-07-22 Massachusetts Institute Of Technology Elastic actuator for precise force control
EP0852789A1 (en) * 1995-09-27 1998-07-15 Immersion Human Interface Corporation Method and apparatus for controlling force feedback interface systems utilizing a host computer
US6105737A (en) * 1996-06-05 2000-08-22 Varity Kelsey-Hayes Gmbh Programmable electronic pedal simulator

Non-Patent Citations (3)

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Title
BUTTERFASS, J.; HIRZINGER, G.; KNOCH, S.; LIU, H.: "DLR'S MULTISENSORY HAND PART I: HARD- AND SOFTWARE ARCHITECTURE", PROCEEDINGS OF THE IEEE INT. CONF. ON ROBOTICS AND AUTOMATION, LEUVEN, BELGIUM, vol. 3, 20 May 1998 (1998-05-20), pages 2081 - 2086, XP002497754, Retrieved from the Internet <URL:http://dx.doi.org/10.1109/ROBOT.1998.680625> [retrieved on 20080920] *
GHORBANI REZA, WU QIONG: "Closed loop control of an intentionally adjustable compliant actuator", IEEE PROCEEDINGS OF THE 2006 AMERICAN CONTROL CONFERENCE, 16 June 2006 (2006-06-16), pages 3235 - 3240, XP002497662, Retrieved from the Internet <URL:http://dx.doi.org/10.1109/ACC.2006.1657216> [retrieved on 20080920] *
PRATT JERRY E , KRUPP BENJAMIN T: "In: Unmanned Ground Vehicle Technology VI. Edited by Gerhart, Grant R.; Shoemaker, Chuck M.; Gage, Douglas W.", PROCEEDINGS OF THE SPIE, vol. 5422, 2004, pages 135 - 144, XP002497661, Retrieved from the Internet <URL:http://dx.doi.org/10.1117/12.548000> [retrieved on 20080920] *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7177698B2 (en) 2017-03-24 2022-11-24 レインボー ロボティックス SERIAL ELASTIC ACTUATOR DEVICE, SERIAL ELASTIC ACTUATOR CONTROL METHOD, AND SYSTEM USING THE SAME

Also Published As

Publication number Publication date
WO2008015460A2 (en) 2008-02-07
GB0615526D0 (en) 2006-09-13
GB2440753A (en) 2008-02-13

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