Three-dimensional force and torque converter with tetrahedral array
First Claim
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1. A controller device comprising:
- a body portion providing a support for the controller device and having a mounting portion;
four and only four transversely flexible but axially stiff arms extending from the mounting portion of the body portion, the arms being spaced from one another in three dimensions in a substantially tetrahedral array, each arm having an axis and a tip portion;
a gripping device;
four connection joints, each connection joint connecting a respective one of the arms to the gripping device, each connecting joint having a cylindrical socket with an axis substantially aligned with the axis of the arm and having a substantially part-spherical engagement element engaged in and relatively slidable along the socket and rotatable in the socket to restrict relative motion of the four arms within the controller device, whereby the gripping device is operable to receive and transmit any applied force and any applied torque in any of the three dimensions, and the interaction between the gripping device, the connection joints and the arms results in any applied force and any applied torque resolving into four opposing forces which lie in faces of the tetrahedral array and are substantially normal to the axes of the four arms, and substantially no axial load is applied to the arms; and
a response detector operable for monitoring responses to the applied force and applied torque in at least three of the four arms whereby transverse displacement of the arms is monitored, the response detector being further operable to provide an output signal representative of the any force and any torque applied through the gripping device.
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Abstract
A three-dimensional force and torque converter unit for measuring an external force or torque applied to the unit and converting it into a signal, whereby the signal may be used to control a system or device incorporating the converter unit. The converter unit includes a controller formed with four spaced apart arms having six or more degrees of constraint. A force or torque may be applied to the tip portions of each of the arms via a gripping means. Sensors are used to measure the deflection of the arms under an applied loading or torque and an output signal is generated.
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Citations
13 Claims
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1. A controller device comprising:
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a body portion providing a support for the controller device and having a mounting portion; four and only four transversely flexible but axially stiff arms extending from the mounting portion of the body portion, the arms being spaced from one another in three dimensions in a substantially tetrahedral array, each arm having an axis and a tip portion; a gripping device; four connection joints, each connection joint connecting a respective one of the arms to the gripping device, each connecting joint having a cylindrical socket with an axis substantially aligned with the axis of the arm and having a substantially part-spherical engagement element engaged in and relatively slidable along the socket and rotatable in the socket to restrict relative motion of the four arms within the controller device, whereby the gripping device is operable to receive and transmit any applied force and any applied torque in any of the three dimensions, and the interaction between the gripping device, the connection joints and the arms results in any applied force and any applied torque resolving into four opposing forces which lie in faces of the tetrahedral array and are substantially normal to the axes of the four arms, and substantially no axial load is applied to the arms; and a response detector operable for monitoring responses to the applied force and applied torque in at least three of the four arms whereby transverse displacement of the arms is monitored, the response detector being further operable to provide an output signal representative of the any force and any torque applied through the gripping device. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A computer system comprising:
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a controller device including; a body providing a support for the controller device and having a mounting portion; four and only four transversely flexible but axially stiff arms extending from the mounting portion of the body portion, the arms being spaced from one another in three dimensions in a substantially tetrahedral array, each arm having an axis and a tip portion; a gripping device; four connection joints, each connection joint connecting a respective one of the arms to the gripping device, each connecting joint having a cylindrical socket with an axis substantially aligned with the axis of the arm and having a substantially part-spherical engagement element engaged in and relatively slidable along the socket and rotatable in the socket to restrict relative motion of the four arms within the controller device, whereby the gripping device is operable to receive and transmit any applied force and any applied torque in any of the three dimensions, and the interaction between the gripping device, the connection joints and the arms results in any applied force and any applied torque resolving into four opposing forces which lie in faces of the tetrahedral array and are substantially normal to the axes of the four arms, and substantially no axial load is applied to the arms; and a response detector operable for monitoring responses to the applied force and applied torque in at least three of the four arms whereby transverse displacement of the arms is monitored, the responses detector being further operable to provide an output signal representative of the any force and any torque applied through the gripping device. - View Dependent Claims (10, 11, 12, 13)
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Specification