Grasping finger position sensor for a robot system

Patent · Tue Jul 28 04:00:00 EDT 1987

OSTI ID:6267070

Reynolds, R W

This patent describes a robot system having at least one finger element which is movable in opposition to at least one cooperating finger element to grasp an object to be manipulated, a drive mechanism coupled to the movable finger element, a position sensing means for sensing the position of the movable finger element in relation to the cooperating finger element. The position sensing means comprises a variable reactance device including two cooperating reactance elements, at least one of the reactance elements movable with respect to the other one of the reactance elements and mechanically coupled to the movable finger element for movement. The other one of the reactance elements is mechanically coupled to the cooperating finger elements. The relative movement between the reactance elements is effective to vary the reactance of the variable reactance device. An oscillator circuit is connected with the variable reactance device. The frequency of the oscillator circuit is variable in response to the variation in the reactance of the variable reactance device. It provides a frequency output signal which represents a measure of the position of the movable finger element with respect to the cooperating finger element.

• Assignee: Perkin-Elmer Corp., Norwalk, CT
• Patent Number(s): US 4682805
• OSTI ID: 6267070
• Country of Publication: United States
• Language: English

Related Subjects

99 GENERAL AND MISCELLANEOUS
990210* -- Supercomputers-- (1987-1989)
ARTIFICIAL INTELLIGENCE
COMPUTERIZED CONTROL SYSTEMS
CONTROL SYSTEMS
EQUIPMENT
FREQUENCY DEPENDENCE
GRABS
LABORATORY EQUIPMENT
MANIPULATORS
MATERIALS HANDLING EQUIPMENT
MEASURING INSTRUMENTS
MONITORS
POSITIONING
REMOTE HANDLING EQUIPMENT
ROBOTS
SIGNALS