Multicomponent force-torque sensor
OwnerAllen R. Grahn, Lynn Astleinventors
Life of this patent
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Abstract
An apparatus and process for detecting and quantifying force-torque components applied to a loadable means. The apparatus includes a plurality of signal-transmission means, a plurality of signal-reflection means, a plurality of signal-detection means and a deformable means which is deformable in response to the application of force-torque components to the loadable means. Application of a force-torque component to the loadable means results in the alteration of the distance traveled by a signal from signal-transmission means to signal detection means. The apparatus further includes a means for utilizing the detected signals to determine force-torque components.
Claims28
A multicomponent force-torque sensor comprising:
- (a) a loadable means to which at least two force-torque components can be applied;
- (b) a plurality of signal-transmission means for transmitting signals;
- (c) a plurality of signal-reflection means for reflecting said transmitted signals;
- (d) a plurality of signal-detection means for detecting said reflected signals;
- (e) at least one medium through which said signals can travel;
- (f) a deformable means which is deformable in response to the application of force-torque components to said loadable means;
- and
- (g) a means for utilizing said detected signals to determine a plurality of force-torque components;
- wherein (a), (b), (c), (d), (e) and (f) are adapted and arranged such that the application of a force-torque component to said loadable means results in the alteration of the distance traveled from signal-transmission means to signal-detection means by each of at least two of said signals.
A multicomponent force-torque sensor comprising:
- (a) a cover plate;
- (b) a substrate;
- (c) a plurality of ultrasonic transducers capable of transmitting and detecting ultrasonic signals;
- (d) a pluraltiy of reflectors capable of reflecting said ultrasonic signals and positioned to reflect said ultrasonic signals back to said transducers;
- (e) a deformable means which is deformable in response to the application of force-torque components to said cover plate;
- (f) at least one medium through which ultrasonic signals transmitted from said ultrasonic transducer can travel;
- and
- (g) an electronic circuitry means for determining the transit time of said ultrasonic signals and for using said signal transit times to determine a plurality of force-torque components;
- wherein (a), (b), (c), (d), (e) and (f) are adapted and arranged such that the application of a force-torque component to said cover plate results in the alteration of the transit time of at least one of said signals;
- and wherein said substrate provides support to said ultrasonic transducers and provides a reference position from which differences in signal transit time can be determined.
A process for determining a plurality of force-torque components comprising:
- (a) subjecting a loadable means to a plurality of force-torque components;
- (b) transmitting signals from a signal-transmission means;
- (c) reflecting said transmitted signals with a signal-reflection means;
- (d) detecting said reflected signals with a signal-detection means;
- and
- (e) determining the transit times of said signals to determine a plurality of force-torque components;
- wherein the signal transit times are altered in response to the force-torque components to which said loadable means is subjected.
A force-torque sensor comprising:
- (a) a loadable means having a contact surface to which at least one force-torque component selected from F.sub.x, F.sub.y, M.sub.x, M.sub.y and M.sub.z can be applied;
- (b) a plurality of signal-transmission means for transmitting signals;
- (c) a plurality of signal-reflection means for reflecting said transmitted signals;
- (d) a plurality of signal-detection means for detecting said reflected signals;
- (e) at least one medium through which said signals can travel;
- (f) a deformable means which is deformable in response to the application of said force-torque component to said loadable means;
- and
- (g) a means for utilizing said detected signals to determine said force-torque component;
- wherein (a), (b), (c), (d), (e) and (f) are adapted and arranged such that the application of said force-torque component to said loadable means results in the alteration of the distance traveled from signal-transmission means to signal-detection means by each of at least two of
- said signals;
- wherein said loadable means is oriented with respect to F.sub.x, F.sub.y, M.sub.x, M.sub.y, and M.sub.z in a frame of reference such that the Z-axis of said frame of reference is normal to said contact surface of said loadable means.
Dependencies are inferred from the claim text.