Browse Prior Art Database

Combined Compliance Structure and Air Gauge Sensor

IP.com Disclosure Number: IPCOM000048695D
Original Publication Date: 1982-Mar-01
Included in the Prior Art Database: 2005-Feb-09
Document File: 2 page(s) / 60K

Publishing Venue

IBM

Related People

Brennemann, A: AUTHOR

Abstract

The illustrated structure provides improved sensitivity for an air gauge sensor for manipulator gripper force sensing.

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Combined Compliance Structure and Air Gauge Sensor

The illustrated structure provides improved sensitivity for an air gauge sensor for manipulator gripper force sensing.

Fig. 1 illustrates how a single compliant parallelogram mounting structure can be used, together with an air gauge, as a force sensor. The basic structure is a compliant parallelogram 10 with an air gauge sensing motion of the web 12, as shown in Fig. 1. The unit may be made from some suitably elastic material, steel, plastic, etc., and is made in the form of a parallelogram.

If surface "A" is bonded to a base 14 (ground) and a force applied at F, the structure will deflect an amount Deltax. However, the extension C of the inconnecting web will also move. The deflection Delta y will be approximately: Delta y equals x over y . Delta x.

Thus, if Delta y is the air gap of an air-gauge sensor, then the mechanical amplification will improve the sensitivity of the unit. In practice, the air gap is in the order of 2-5 mils; thus it might be possible to measure smaller distances with this unit.

Two such units could be used as force sensors in a manipulator gripper, as shown in Fig. 2. The sensors are mounted between the gripper plates 20 and the actuating mechanism 22. When forces are applied to the plates, such as gripping an object, the units 10 will deflect, thereby changing the air gap. This will then be detected as a change in the back pressure of the system, which can be calibrated in force units....