Sensor Arrangement for a Manipulator Gripper
Original Publication Date: 1981-Jul-01
Included in the Prior Art Database: 2005-Feb-11
A method of sensing forces in a manipulator gripping mechanism is to measure the stresses in the members of a compliant structure. Two gripping plates or finger surfaces are attached to a three-dimensional compliant device. The compliant device in turn is attached to a hydraulic driving linkage. As the hydraulic system is actuated, the finger plates move apart or together, but remain parallel. Each of the two compliant devices consists of three sets of parallel plate beam structures arranged in such a way that the three directions of compliance are orthogonal. The standard approach to force feedback would be to use strain gauges electrically connected in the form of a bridge circuit, mounted at the point of flexure in each of the beams.