Jane Willis Gregory

US Patent:

44780893, Oct 23, 1984

Filed:

Jun 29, 1982

Appl. No.:

6/393259

Inventors:

Henry E. Aviles - Pompano Beach FL
Jane A. Gregory - Boca Raton FL
Hugo A. Panissidi - Boca Raton FL
Henry E. Wattenbarger - Lake Worth FL

Assignee:

International Business Machines Corporation - Armonk NY

International Classification:

G01L 516

US Classification:

7386204

Abstract:

A multi-degree of freedom force transducer is provided for measuring forces applied to gripper fingers in a manipulator when grasping an object therebetween. The transducer includes a pair of force sensor assemblies rigidly connected at a first end to a respective finger and at a second end to a drive member for the gripper. A plurality of parallel beam structures are contained in each of the force sensor assemblies, each consisting of a pair of flat parallel flexure members, each member bridging opposite sides of a gap in the structure. These parallel beam structures are oriented so that the axis perpendicular to the planar surfaces of the parallel flexure members are orthogonal to one another, providing the capability of measuring the force applied to an object held by the gripper in the X, Y and Z axial directions. A strain gage of a pair of strain gages is located at a predetermined opposite maximum flexure point of each flexure member of said parallel beam structures, so as to measure the flexure of the member at the predetermined flexure points, which flexure is indicative of the force vector along the axis perpendicular to the parallel flexure members. In another embodiment the junction between the flexure member and the wall of the strain gage assembly is radiused or curved so that the maximum flexure point is spread out, giving longer life and enhanced measurement accuracy.

Address:

1721 Overlook Rd, Longwood, FL 32750

Phone:

4073325081

VIN:

1C4PJLFK4CW194233

Make:

JEEP

Model:

LIBERTY

Year:

2012

Address:

328 Wekiva Park Dr, Sanford, FL 32771

VIN:

3VWRF31Y47M400210

Make:

VOLKSWAGEN

Model:

NEW BEETLE

Year:

2007