Method and device for measuring path following under load
AssigneesUniversite De Nantes, Centre National De La Recherche Scientifique
InventorsSébastien Garnier, Benoît Furet
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Abstract
A device for measuring a path under load of a first part that is in motion relative to a second part. The device includes an active telescopic bar and a connector. The telescopic bar includes a scale to measure the length of the bar, a coupler to ball link at each end of the bar, and a force sensor to measure the force applied to the bar along its longitudinal axis. The connector links each end of the bar to the first and second part, respectively. The spatial components of the force applied to one of the connector are measured. A measuring method utilizing the device.
Claims14
A measuring device to measure deviations under load of a programmed path followed by a first part of a machine tool or a robot that is in motion relative to a second part external to the machine tool or the robot, the measuring device comprising:
- a telescopic bar comprising:
- a scale to measure a length of the telescopic bar;
- a link, at each end of the telescopic bar, comprising two degrees of rotational freedom;
- an actuator configured to deliver a force along a longitudinal axis of the telescopic bar;
- and a force sensor to measure a force applied at each end of the telescopic bar along its longitudinal axis;
- connectors to link two ends of the telescopic bar to the first and second parts, respectively;
- and
- a controller configured to determine spatial components of a force applied to the connectors by the actuator of the telescopic bar during a motion of the first part.
Dependencies are inferred from the claim text.