Browse Prior Art Database

Two Dimensional Compliant Device for Robot Sensor

IP.com Disclosure Number: IPCOM000053203D
Original Publication Date: 1981-Sep-01
Included in the Prior Art Database: 2005-Feb-12
Document File: 2 page(s) / 44K

Publishing Venue

IBM

Related People

Grossman, DD: AUTHOR

Abstract

A small sized 2-D compliant device is described that measures two-dimensional forces in a robot sensor.

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Two Dimensional Compliant Device for Robot Sensor

A small sized 2-D compliant device is described that measures two- dimensional forces in a robot sensor.

The compliant device 10 is shown in Fig. 1 and includes four very thin web sections 1-4. Webs 1 and 2 are parallel to each other and webs 3 and 4 are parallel to each other. Webs 1 and 2 are perpendicular to webs 3 and 4.

The device 10 is rigidly attached to points A to plate A and at points B to plate B, as shown in Fig. 2.

The effect is that plates A and B can make small translational motions parallel to one another. Thus, as shown in Fig. 3, plates A and B can translate in two dimensions. However, the device 10 prevents relative rotations of plates A and B.

To measure forces in a robot's gripper, it is desirable to provide a compliance device with known stiffness that allows forces to be transformed into small displacements that can be measured. Parallel compliance provides a direct measure of F(x), F(y), and F(z) without having to alloy for the three torque components T(x), T(y), and T(z).

Compliant device 10 maximizes the distance between webs 1 and 2, and webs 3 and 4 for improved parallelism. The device can simply be made with an XY milling machine in one set-up. Overload protection can be provided by one or more pins. Also, the stiffness can be made non-linear by filling the gaps adjacent to the webs with resilient material. It is noted that two devices 10 can easily be attached at right angles to provi...