公开(公告)号：US3921445A

公开(公告)日：1975-11-25

申请号：US40655373

申请日：1973-10-15

Applicant: STANFORD RESEARCH INST

Inventor： HILL JOHN W ,  SWORD ANTONY J

IPC: B25J19/02 ,  G01L1/24 ,  G01L5/16 ,  G01L5/22

CPC classification number: G01L5/226 ,  B25J19/021 ,  G01L1/24 ,  G01L5/163 ,  G01L5/166

Abstract: A manipulator is shown of the type which includes an effector, such as a hand, comprising a pair of jaws relatively pivotally movable between open and closed positions under operation of power means such as an electric motor. Sensing means, for sensing both magnitude and direction of forces along three mutually orthogonal axes intersecting at the wrist and for sensing magnitude and direction of torques about said axes, are provided at the wrist intermediate to the manipulator hand and hand supporting means. The sensing means includes a plurality of sensing units radially spaced from the longitudinal axis of the manipulator at equal distances therefrom. In an exemplary arrangement, four such orthogonally located sensing units are employed, each of which includes a radially extending opaque pin carried by the manipulator arm or hand. Each pin extends into a clearance hole formed in an energy source and detector housing carried by the other of the arm and hand. The housings also are formed with passages which intersect the pin receiving hole and along which passages an associated energy source and energy detector are located, with the energy from the source being directed toward the energy detector. A portion of the energy from each of the sources is blocked by the pin such that only the unobstructed portion of the energy from the source reaches the detector. The amount of shadowing of energy by the pins depends upon forces and torques applied to the hand, and the outputs from the detectors are combined in such a manner as to provide output signals representative of the three components of force at the wrist corresponding to reach, lift and sweep directions of hand motion and the three components of torque corresponding to twist, turn and tilt of the hand. Also, the hand and power means for operation of the hand are located at opposite sides of the wrist, such that the power means functions as a counterweight to balance the weight of the hand. Consequently, the hand weight is not reflected in the outputs of the torque sensors.

公开(公告)号：US3904234A

公开(公告)日：1975-09-09

申请号：US40655273

申请日：1973-10-15

Applicant: STANFORD RESEARCH INST

Inventor： HILL JOHN W ,  SWORD ANTONY J

IPC: B25J15/04 ,  B25J19/02 ,  G01L1/00 ,  G01L1/04 ,  G01L5/22 ,  B25B11/00

CPC classification number: G01L1/005 ,  B25J15/04 ,  B25J19/021 ,  G01L1/04 ,  G01L5/226 ,  Y10S294/907 ,  Y10S414/122

Abstract: An articulated manipulator of the type which includes a pair of jaws relatively pivotally movable between open and closed positions under operation of an electric motor for picking up objects is disclosed. One or more electromechanical transducers are located on the jaws for force and slip sensing. The force sensors include spaced light source and light sensing elements attached to the manipulator jaws and a movable shutter or vane positioned therebetween for control of the amount of light from the source which strikes the light sensing elements. The shutter position, in turn, is controlled by a movable operating member at a face of the manipulator which is urged outwardly by resilient biasing member against external forces applied to the operating member. The shutter position, and therefore amount of light reaching the light sensing member, is proportional to the force required to move the operating member against the resilient biasing member. Different resilient biasing members including composite members having different stress-strain characteristics may be used for operation over different ranges of operating pressures and/or to provide the manipulator with different force sensing characteristics. A plurality of force sensors may be located on each jaw for sensing forces applied to the manipulator at locations other than the opposing jaw faces. Slip sensors for sensing slippage of gripped objects between the jaw faces also are contemplated, which sensors include rotatable disks mounted inside the jaws and having edges extending outwardly from the opposing jaw faces. The disks function also as code wheels, and code sensors within the jaws sense disk rotation. Provision for translational movement of the disks into the jaws is provided without producing an output from the code sensors. Also, a tool and tool holder for partial support of a tool are shown, which may be employed with the manipulator.

Abstract translation: 公开了一种铰链式操纵器，其包括在用于拾取物体的电动机的操作下在打开和关闭位置之间可相对枢转地移动的一对钳口。 一个或多个机电换能器位于钳口上用于力和滑移感测。 力传感器包括间隔开的光源和连接到操纵器颚的光感测元件和位于其间的可移动的快门或叶片，用于控制来自光源的光的量。 挡板位置又由可操作的操作构件控制在机械手的表面，该操作构件通过弹性偏置构件抵抗施加到操作构件的外力而被向外推动。 快门位置以及因此到达感光构件的光量与将操作构件相对于弹性偏置构件移动所需的力成比例。 包括具有不同应力 - 应变特性的复合构件的不同弹性偏置构件可用于在不同工作压力范围上操作和/或为操纵器提供不同的力感测特性。 多个力传感器可以位于每个钳口上，用于感测在除了相对的钳口面之外的位置处施加到操纵器的力。 也可以考虑用于感测夹钳面之间夹持物体的滑动的滑动传感器，这些传感器包括安装在钳口内的旋转盘，并具有从相对的钳口面向外延伸的边缘。 磁盘还用作代码轮，并且钳口内的代码传感器检测盘旋转。 在不产生代码传感器的输出的情况下，提供将盘转换成钳口的规定。 此外，示出了可以与机械手一起使用的用于部件支撑工具的工具和工具保持器。