Robotic Gripper Slip Sensor Using Ultrasound
Original Publication Date: 1986-Nov-01
Included in the Prior Art Database: 2005-Mar-09
Using ultrasound, with amplitude modulation, phase modulation, or Doppler frequency shift, permits a robot gripper to use all electronic sensing to detect motion dynamics of a loosely gripped object during slippage. Using amplitude modulation of an ultrasonic carrier allows detection of slippage. Using phase modulation or Doppler shift allows detection of slippage and also allows determination of the direction of slippage. Amplitude Modulation System An amplitude modulation system is illustrated in Fig. 1. An emitting transducer 1 is attached to gripper face 2, and a receiving transducer 3 is attached to gripper face 4. A continuous sine wave of ultrasonic energy, excited by transducer 1, is propagated throughout face 2.