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The illustrated structure provides improved sensitivity for an air gauge sensor for manipulator gripper force sensing.
English (United States)
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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....