公开(公告)号：US4369663A

公开(公告)日：1983-01-25

申请号：US231065

申请日：1981-02-03

Applicant: Giorgio Venturello ,  Osvaldo Salvatore

Inventor： Giorgio Venturello ,  Osvaldo Salvatore

IPC: B25J9/22 ,  B25J13/02 ,  B25J13/08 ,  G01L1/14 ,  G01L5/16 ,  G05G9/047

CPC classification number: G01L5/165 ,  B25J13/02 ,  B25J13/085 ,  G01L1/144 ,  G05G9/04737

Abstract: A transducer having six degrees of freedom is provided for converting forces and moments applied to a movable member, particularly to the movable arm of a robot, into electrical signals. The transducer includes a cylindrical body which is intended to be connected to the movable member and whose lateral surface has two axially spaced portions each provided with four equiangularly spaced metal plates. A cylindrical casing is resiliently supported about the body and provided on its inner surface with two substantially semi-cylindrical metal plates arranged facing the plates carried by the body in such a way as to define therewith a narrow interspace and to constitute eight capacitors. The capacitances of these capacitors depend on the relative positions of the plates of the casing and the plates of the body. The transducer also includes detectors connected to the plates of the body and of the casing. The detectors are arranged to measure the capacitance of each of the capacitors and to provide, on the basis of this measurement, electrical signals indicative of the forces and the moments applied to the movable member.

Abstract translation: 提供具有六个自由度的传感器，用于将施加到可移动部件，特别是机器人的可动臂的力和力矩转换成电信号。 换能器包括一个圆筒体，其旨在连接到可移动构件，并且其侧面具有两个轴向隔开的部分，每个均设有四个等角度间隔的金属板。 圆柱形壳体围绕主体弹性支撑并且在其内表面上设置有两个基本上半圆柱形的金属板，其布置成面向由主体承载的板，以便限定其狭窄的间隙并构成八个电容器。 这些电容器的电容取决于壳体的板和主体的板的相对位置。 换能器还包括连接到主体和壳体的板的检测器。 检测器被布置成测量每个电容器的电容，并且基于该测量提供指示施加到可动构件的力和力矩的电信号。