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Robot Manipulator Force/Displacement Sensor

IP.com Disclosure Number: IPCOM000064955D
Original Publication Date: 1985-Oct-01
Included in the Prior Art Database: 2005-Feb-19

Publishing Venue

IBM

Related People

Authors:
Barringer, WA Kettler, MA Krakinowski, M Moore, BE [+details]

Abstract

The need for remote force and displacement sensing devices has been well established in the field of robotics. A prior solution to force displacement sensing utilized strain gauges mounted on a flexure that was an integral part of the manipulator. Forces acting on the manipulator produce strains in the flexure that were measured by the strain gauges. However, the low-order strains produced low-order signals that required high amplification, resulting in a poor signal-to-noise ratio. Other disadvantages with the strain gauge approach were that they were difficult to install, required constant calibration, and were unreliable and expensive. The invention described here provides an accurate, reliable and easily implemented method for remotely measuring force and position displacement.