Asymmetric six-degree-of-freedom force-transducer system for a computer-controlled manipulator system

• US 4,132,318 A
• Filed: 12/30/1976
• Issued: 01/02/1979
• Est. Priority Date: 12/30/1976
• Status: Expired due to Term

• Current Assignee: International Business Machines Corporation
• Original Assignee: International Business Machines Corporation
• Inventors: Will, Peter M., Wang, Sherman S., Wesley, Michael A.
• Primary Examiner(s): Werner, Frank E.
• Application Number:
  US05/755,900
• Time in Patent Office: 733 Days
• Field of Search: 214/1 R, 214/1 B, 214/1 BB, 214/1 BC, 214/1 BD, 214/147 T, 214/147 G, 214/2, 214/1 CM, 235/92 WT, 3/12.6, 3/12.7, 3/12.8, 73/65, 73/89, 73/100, 73/133 R, 294/88-119
• US Class Current: 414/591
• CPC Class Codes: B25J 13/082 Grasping-force detectors in general G01L5/16, G01L5/22
• CPC Class Codes: B25J 15/0253 comprising parallel grippers
• CPC Class Codes: B25J 9/0015 Flexure members, i.e. parts of manipulators having a narrowed section allowing articulation by flexion
• CPC Class Codes: Y10S 294/907 Sensor controlled device

Abstract

A computer-controlled-manipulator gripper with a set of three-degree-of-freedom force sensors on each finger having strain gauges and 90° shift in orientation of the sensors includes an asymmetric, offset relationship of the location and orientation of analogous sensors on the two fingers in order to obtain different measurements from the two fingers.

Claims

1. A mechanical manipulator system including a gripper having a drive portion and at least a pair of opposed fingers for grasping objects, each of said fingers having a gripping portion with a gripping surface,

linkage means for connecting said fingers to said drive portion, each of said fingers having associated therewith a plurality of force sensors, with corresponding ones thereof having similar moment arms and an asymmetric relationship of the orientation of analogous sensors for said pair of fingers with the exception that at least one of said sensors on one of said fingers is substantially offset in location with respect to the moment arm of a corresponding sensor on another finger to provide substantially different moment force components whereby when an object is grasped between said fingers, said system is capable of measuring a number of degrees of freedom equal to the sum of the numbers of sensors on said fingers.

2. A manipulator system in accordance with claim 1 including on each finger a set of multi-degree of freedom force sensors for providing force and moment data to determine the position and orientation of an object in the fingers of a manipulator system comprising,

a strain gauge assembly rigidly connected at a first end to a said finger and rigidly connected at a second end to a drive member for a said finger,

said strain gauge assembly including a plurality of interconnected strain gauge modules,

each of said strain gauge modules comprising a generally I-shaped beam having a thin central beam adapted for mounting strain gauges on its relatively wide, flat surfaces, and

end portions of said I-beam providing means for rigidly interconnecting said strain gauge modules with the I-beam generally oriented at a 90°

0 twist and/or rotation from each other,

wherein said strain gauge modules can be configured in blocklike fashion to provide a strain gauge assembly with the desired number of degrees of freedom sensing.

3. A manipulator system in accordance with claim 2 wherein said fingers have substantially parallel gripping surfaces,

a first finger has secured thereto a first said I-beam having vertically extending sidewalls parallel to the axis of said finger connected to a second I-beam having horizontally extending sidewalls,

said second I-beam connected at its inboard end to an elbow block connected to a third I-beam extending in a vertical plane normal to that of said first I-beam,

said third I-beam being connected at its inboard end to a leg comprising a linkage means extending upwardly towards said drive portion,

said second finger having a fourth I-beam sensor secured thereto having a horizontal plane parallel to said second I-beam,

a fifth I-beam connected to said fourth I-beam having a plane parallel to said first I-beam, and

an elbow and linkage block having a substantial length at right angles to said second finger,

a sixth I-beam connected to the inboard end of said elbow and linkage block having a plane parallel to said third I-beam,

said sixth I-beam being substantially offset with respect to said third I-beam by being substantially farther away from its elbow.

4. A mechanical manipulator system in accordance with claim 1 including means for combining moment values from the sensors to weigh an object held in said fingers.

5. A mechanical manipulator system in accordance with claim 1 including means for locating the center of gravity of an object.

6. A manipulator gripper including a pair of opposed fingers for grasping objects, each of said fingers having a set of multi-degree of freedom force sensors for providing force and moment data to determine the position and orientation of an object in the fingers of a manipulator system, comprising

force sensor assemblies rigidly connected at a first end to a said finger and rigidly connected at a second end to a drive member for said fingers, each sensor having a preferred response axis,

said force sensor assemblies including a plurality of interconnected sensors,

portions of said sensors providing means for rigidly interconnecting said sensors with the sensors generally oriented at a 90°

twist and/or rotation from each other,

said sensors are configured in a fashion to provide an assembly of sensors with the desired number of degrees of freedom of sensing,

at least one of the sensors of the assembly associated with one finger is substantially offset in position with respect to the sensors associated with another finger cooperating therewith, and

an asymmetric relationship of the orientation of analogous sensors for said pair of fingers whereby when an object is grasped between said fingers, said system is capable of measuring a greater number of degrees of freedom than when said fingers operate alone.

7. A manipulator gripper including a pair of opposed fingers for grasping objects, each of said fingers having a set of multi-degree of freedom force sensors for providing force and moment data to determine the position and orientation of an object in the fingers of a manipulator system, comprising

strain gauge assemblies rigidly connected at a first end to said finger and rigidly connected at a second end to a drive member for said fingers,

said strain gauge assembles including a plurality of interconnected strain gauge modules,

each of said strain gauge modules comprising a generally I-shaped beam having a thin central beam adapted for mounting strain gauges on its relatively wide, flat surfaces, and

end portions of said I-beam providing means for rigidly interconnecting said strain gauge modules with the I-beam generally oriented at a 90°

twist and/or rotation from each other, and

an asymmetric relationship of the orientation of analogous strain gauge assemblies from said pair of fingers,

whereby said strain gauge modules can be configured in block-like fashion to provide a strain gauge assembly with the desired number of degrees of freedom sensing, and

an I-beam module of the strain gauge assembly associated with one finger is substantially offset in position with respect to the strain gauge assembly associated with another finger cooperating therewith whereby when said fingers cooperate to grasp an object therebetween, said system is capable of measuring a greater number of degrees of freedom than when said fingers operate alone.

8. A manipulator gripper including a set of sensors as recited in claim 7, wherein each said central beam has a general rectangular plate shape, such that each of said strain gauge modules is essentially sensitive to moments about the axis extending transversely across said central beam and through its center, and sensitive to the forces that are perpendicular to the relatively wide, flat surfaces of said central beam.

9. A manipulator gripper including a set of sensors as recited in claim 7, wherein a pair of strain gauges are mounted adjacent each other on each wide, flat surface of said central beam, providing a total of four strain gauges.

10. A manipulator gripper including a set of sensors as recited in claim 9, wherein said four strain gauges are electrically connected in a Wheatstone bridge circuit with the opposite connected elements of said circuit being comprised of the pair of strain gauges on the same central beam surface.

11. A manipulator gripper including a set of strain gauge assemblies as recited in claim 7, wherein said strain gauge assemblies comprise one or more of said strain gauge modules for individually sensing forces in respective x, y and z directions and for sensing moments about the x, y and z axes, thereby providing six degrees of freedom sensing of forces.

12. A manipulator gripper for grasping objects including a pair of fingers with a set of multi-degree of freedom force sensors for providing force and moment data to a system for forces applied via a control means, comprising

a pair of fingers, each finger having a strain gauge assembly rigidly connected at a first end to said control means and rigidly connected at a second end to said finger,

each of said strain gauge assemblies comprising a plurality of interconnected strain gauge modules with an asymmetric relationship of the orientation of analogous sensors for said pair of fingers,

each of said strain gauge modules comprising a generally I-shaped beam having a central beam with the relatively wide, flat surfaces for mounting strain gauges thereon, and

means on the ends of said central beam for interconnecting said I-beams in orthogonal relationship with the other beams to provide a strain gauge assembly with the desired number of degrees of freedom sensing, and

one of said assemblies having at least one module substantially offset from the corresponding module for the other finger whereby when an object is grasped between said fingers, said system is capable of measuring a number of degrees of freedom equal to the sum of the numbers of sensors on said fingers.

13. A manipulator gripper including a set of sensors as recited in claim 12, wherein each of said strain gauge modules is interconnected in orthogonal relationship with the other modules so that each strain gauge module is sensitive only to the forces that are perpendicular to the relatively wide, flat surface of the central beam, and sensitive to the moments about the axis extending transversely across said beam and through its center.