Title:
PICKUP FOR MEASURING FORCE AND TORQUE
Document Type and Number:
Japanese Patent JPS62102129
Kind Code:
A
Abstract:
The base module of the pickup comprises two U-shaped supports, each having two measuring branches connected by an intermediate branch. These parts are placed in inverted manner, so that their longitudinal axes of symmetry Z coincide and their planes of symmetry XZ and YZ are orthogonal. Cylindrical links are provided between the ends of the measuring branches of each of the parts and the intermediate branch of the other part. By placing strain gauges on the measuring branches, it is possible to determine with very reduced overall dimensions the forces in three axes X, Y and Z and the moments of the torques about axes X and Y. Such a module, optionally completed by an auxiliary device for measuring the moment of the torque about axis Z can advantageously be used in a follower or in each of the fingers of a gripper, so as to obtain information on the contact torsor between the follower and the object or the gripper and the object.
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Inventors:
DOMINIKU RESUTERE
Application Number:
JP24980886A
Publication Date:
May 12, 1987
Filing Date:
October 22, 1986
Export Citation:
Assignee:
COMMISSARIAT ENERGIE ATOMIQUE
International Classes:
B25J13/08; G01L5/16; G01L5/22; (IPC1-7): G01L5/16
Attorney, Agent or Firm:
Nao Kuwahara