DE3362847D1 - Gripper with force sensing means, provided with an articulated structure with a plurality of degrees of freedom and inserted between its contact plate and its support - Google Patents

Gripper with force sensing means, provided with an articulated structure with a plurality of degrees of freedom and inserted between its contact plate and its support

Info

Publication number
DE3362847D1
DE3362847D1 DE8383400153T DE3362847T DE3362847D1 DE 3362847 D1 DE3362847 D1 DE 3362847D1 DE 8383400153 T DE8383400153 T DE 8383400153T DE 3362847 T DE3362847 T DE 3362847T DE 3362847 D1 DE3362847 D1 DE 3362847D1
Authority
DE
Germany
Prior art keywords
gripper
freedom
degrees
support
sensing means
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired
Application number
DE8383400153T
Other languages
English (en)
Inventor
Mayez Al Mouhamed
Etienne Csakvary
Cosnac Bertrand De
Jean-Paul Noel
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
Original Assignee
Commissariat a lEnergie Atomique CEA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Commissariat a lEnergie Atomique CEA filed Critical Commissariat a lEnergie Atomique CEA
Application granted granted Critical
Publication of DE3362847D1 publication Critical patent/DE3362847D1/de
Expired legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/081—Touching devices, e.g. pressure-sensitive
    • B25J13/082—Grasping-force detectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B25J15/0266—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by articulated links
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S294/00—Handling: hand and hoist-line implements
    • Y10S294/907—Sensor controlled device
DE8383400153T 1982-01-28 1983-01-21 Gripper with force sensing means, provided with an articulated structure with a plurality of degrees of freedom and inserted between its contact plate and its support Expired DE3362847D1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR8201326A FR2520279A1 (fr) 1982-01-28 1982-01-28 Dispositif de prehension a mesure d'effort a structure articulee possedant plusieurs degres de liberte intercalee entre la plaque de contact et son support

Publications (1)

Publication Number Publication Date
DE3362847D1 true DE3362847D1 (en) 1986-05-15

Family

ID=9270405

Family Applications (1)

Application Number Title Priority Date Filing Date
DE8383400153T Expired DE3362847D1 (en) 1982-01-28 1983-01-21 Gripper with force sensing means, provided with an articulated structure with a plurality of degrees of freedom and inserted between its contact plate and its support

Country Status (5)

Country Link
US (1) US4566845A (de)
EP (1) EP0085605B1 (de)
JP (1) JPS58132486A (de)
DE (1) DE3362847D1 (de)
FR (1) FR2520279A1 (de)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4680523A (en) * 1986-03-13 1987-07-14 Lord Corporation Apparatus and method for handling articles in automated assembly processes
US5080415A (en) * 1988-04-22 1992-01-14 Beckman Instruments, Inc. Robot gripper having auxiliary degree of freedom
DD272250A1 (de) * 1988-05-19 1989-10-04 Adw Ddr Kybernetik Inf Mehrfingergreifer zur erfassung der greifkraft sowie raeumlicher reaktionskraefte und -momente
US4982611A (en) * 1988-05-24 1991-01-08 Wisconsin Alumni Research Foundation Multiple-degree-of-freedom sensor tip for a robotic gripper
US5261266A (en) * 1990-01-24 1993-11-16 Wisconsin Alumni Research Foundation Sensor tip for a robotic gripper and method of manufacture
US5010773A (en) * 1990-01-24 1991-04-30 Wisconsin Alumni Research Foundation Sensor tip for a robotic gripper and method of manufacture
US5225825A (en) * 1990-04-05 1993-07-06 Meridian Incorporated Electronic interlock for storage assemblies
CN110014416A (zh) * 2019-04-10 2019-07-16 中国矿业大学 一种堆垛机器人夹持力动态匹配系统和方法

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3875481A (en) * 1973-10-10 1975-04-01 Uniroyal Inc Capacitive weighing mat
US3921445A (en) * 1973-10-15 1975-11-25 Stanford Research Inst Force and torque sensing method and means for manipulators and the like
US3948093A (en) * 1975-06-30 1976-04-06 International Business Machines Corporation Six degree of freedom force transducer for a manipulator system
DE2636473C3 (de) * 1976-08-13 1980-04-10 Maschinenfabrik Augsburg-Nuernberg Ag, 8000 Muenchen Greifer, insbesondere für Handhabungsgeräte
US4132318A (en) * 1976-12-30 1979-01-02 International Business Machines Corporation Asymmetric six-degree-of-freedom force-transducer system for a computer-controlled manipulator system
FR2416094A1 (fr) * 1978-02-01 1979-08-31 Zarudiansky Alain Dispositif de manipulation a distance
JPS5613598A (en) * 1979-07-16 1981-02-09 Sony Corp Sample holding circuit

Also Published As

Publication number Publication date
EP0085605A1 (de) 1983-08-10
JPS58132486A (ja) 1983-08-06
JPS6157159B2 (de) 1986-12-05
US4566845A (en) 1986-01-28
EP0085605B1 (de) 1986-04-09
FR2520279A1 (fr) 1983-07-29
FR2520279B1 (de) 1984-09-07

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Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee