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Tactile Sensors Operated by a Warping Plate and Buckling Beams

IP.com Disclosure Number: IPCOM000083806D
Original Publication Date: 1975-Jul-01
Included in the Prior Art Database: 2005-Mar-01
Document File: 3 page(s) / 58K

Publishing Venue

IBM

Related People

Folchi, GA: AUTHOR [+3]

Abstract

Sensors operated by a warping plate supported by three buckling beams are mounted on the fingers of a computer controlled manipulator system. Three associated switches provide eight different states for eight different points of contact on a plate for holding objects.

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Tactile Sensors Operated by a Warping Plate and Buckling Beams

Sensors operated by a warping plate supported by three buckling beams are mounted on the fingers of a computer controlled manipulator system. Three associated switches provide eight different states for eight different points of contact on a plate for holding objects.

Referring to Fig. 1, a nonflat warping plate 11 (shown in Fig.
3) is rigidly connected to three supporting beams, 12A, 12B, and 12C. A force P applied to plate 11 buckles the supporting beams 12X (where X = A, B, or C). Referring to Fig. 2, the differential equation for a buckled beam 12X can be approximated by:

(Image Omitted)

where E and I are the elasticity modulus and the moment of inertia of beam 12X, respectively. Beams 12X are designed slightly bent as shown in Fig. 2 to assure that only one buckling mode occurs in operation. For a clamped-hinged beam, the critical buckling load is:.

(Image Omitted)

where l is the length of beam 12X. Note that high sensitivity can be early achieved by selecting long and thin beams. (Small value of I and large value of l in Eq. 2.)

Three miniature switch actuators 13A, 13B and 13C are spring loaded. The finger structure is used as a stopper for the sensors if a heavy load is applied to the plate 11. Overloading does not damage switches 14. Referring to Fig. 1, notch 5 is adapted to or combined with the sensor for the advantages of centralizing (positive location) of a cylindrical part, repeatable positioning of parts, and firm gripping of round parts. Objects will not roll out of notch 5.

Referring to Fig. 3, the signal output of actuators 13A, 13B and 13C depends upon contact location between the external force...