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US 10,239,213 B1Granted
Flexure assembly for force/torque sensing
AssigneeX Development LLC
InventorAdam Reich
Life of this patent
Estimating the term…
Abstract
An example device includes a first flexural element, a second flexural element, a first rigid component and a second rigid component. The rigid components have a fixed height that axially offsets the first flexural element from the second flexural element. The first rigid component is coupled to the first flexural element at one or more connection points on a first plane and coupled to the second flexural element at one or more connection points on a second plane. The second rigid component is coupled to the first flexural element at one or more other connection points on the first plane and coupled to the second flexural element at one or more other connection points on the second plane.
Claims20
A device, comprising:
- a first flexural element centered on an axis;
- a first rigid component having a fixed height, wherein the first rigid component and the first flexural element are coupled together at one or more connection points on a first plane, wherein the first plane is perpendicular to the axis;
- a second rigid component having the fixed height, wherein the second rigid component and the first flexural element are coupled together at one or more other connection points on the first plane;
- and
- a second flexural element centered on the axis, wherein the second flexural element and the first rigid component are coupled together at one or more connection points on a second plane that is parallel to the first plane, wherein the second flexural element and the second rigid component are coupled together at one or more other connection points on the second plane, wherein the second flexural element is axially offset from the first flexural element by the fixed height of the first and second rigid components, and further wherein the first flexural element and the second flexural element resist movement of the first rigid component relative to the second rigid component in at least one degree of freedom.
2 more elements
A method, comprising:
- resisting, by a first flexural element and a second flexural element, an applied load, wherein a first rigid component and the first flexural element are coupled together at one or more connection points on a first plane, wherein the first rigid component and the second flexural element are coupled together at one or more connection points on a second plane, wherein a second rigid component and the first flexural element are coupled together at one or more other connection points on the first plane, and wherein the second rigid component and the second flexural element are coupled together at one or more other connection points on the second plane, wherein the first rigid component and the second rigid component have a fixed height, and wherein the first flexural element and the second flexural element are spaced by the fixed height;
- and
- determining, by at least one sensor, one or more output parameters based on one or more deflections of the first rigid component relative to the second rigid component when the load is applied.
A robotic system comprising:
- a first flexural element centered on an axis;
- a first rigid component having a fixed height, wherein the first rigid component and the first flexural element are coupled together at one or more connection points on a first plane, wherein the first plane is perpendicular to the axis;
- a second rigid component having the fixed height, wherein the second rigid component and the first flexural element are coupled together at one or more other connection points on the first plane;
- a second flexural element centered on the axis, wherein the second flexural element and the first rigid component are coupled together at one or more connection points on a second plane that is parallel to the first plane, wherein the second flexural element and the second rigid component are coupled together at one or more other connection points on the second plane, and wherein the second flexural element is axially offset from the first flexural element by the fixed height of the first and second rigid components;
- a first housing component coupled to the first rigid component;
- a second housing component coupled to the second rigid component;
- one or more sensors;
- one or more processors;
- and
- a computer-readable medium having stored thereon program instructions that, when executed by the one or more processors, cause the robotic system to perform functions comprising:
- receiving, from the one or more sensors, sensor data indicating one or more deflections between the first rigid component and the second rigid component resulting from an applied load;
- and
- determining at least one component of a force or a moment of the applied load based on the one or more deflections.
10 more elements
Dependencies are inferred from the claim text.