Browse Prior Art Database

Vertical Force Sensor for Robot

IP.com Disclosure Number: IPCOM000034535D
Original Publication Date: 1989-Mar-01
Included in the Prior Art Database: 2005-Jan-27
Document File: 2 page(s) / 77K

Publishing Venue

IBM

Related People

Bojan, WV: AUTHOR [+2]

Abstract

A supporting fixture and tool holder in a robot can be interconnected with a load cell and controlled to respond to different force levels. (Image Omitted) In Fig. 1, fixture 1 is robotically moved and carries tool holder 2 that is attached through load washers 3, screws 4 and load cell 5. Tool holder 2 is restrained from rotational motion by a pair of opposed guide pins 6 that have limited vertical motion within slots 7 in fixture 1. Various tools are inserted in the bottom portion of holder 2. A negative or positive output voltage Vs from load cell 5 indicates tensile or compressive loading and its magnitude. A load or force signal comparing circuit is shown in Fig. 2.

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Vertical Force Sensor for Robot

A supporting fixture and tool holder in a robot can be interconnected with a load cell and controlled to respond to different force levels.

(Image Omitted)

In Fig. 1, fixture 1 is robotically moved and carries tool holder 2 that is attached through load washers 3, screws 4 and load cell 5. Tool holder 2 is restrained from rotational motion by a pair of opposed guide pins 6 that have limited vertical motion within slots 7 in fixture 1. Various tools are inserted in the bottom portion of holder 2. A negative or positive output voltage Vs from load cell 5 indicates tensile or compressive loading and its magnitude. A load or force signal comparing circuit is shown in Fig. 2. The load cell output voltage Vs is fed to operational amplifiers 8 and 9 acting to provide a fully rectified positive signal only to comparator 10, indicating the loading of the cell. A reference voltage representing the desired maximum cell loading is supplied in binary form to buffer 11, digital-to-analog converter 12 and to comparator 10. Potentiometer 13 enables calibration adjustment. A control program is used to set the desired reference voltage, enabling interrupt signals from comparator 10 when the reference level is exceeded to indicate that the selected load or force has been reached.

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