US4440031A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Force detecting system for remote center compliance device
Assignee: Charles Stark Draper Laboratory Inc
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Filing: 1981-07-31
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Granted: 1984-04-03
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Expires: 2001-07-31
Abstract
Abstract A force detecting system for a remote center compliance device, including: a first rigid monolithic part; a second rigid monolithic part spaced from the first part; at least three compressible, shear deformable means interconnecting the first and second parts and disposed along conical radii from a center; and at least one axial proximity displacement sensor for detecting the distance between the parts.
Inventors
- 👤 Thomas L. De Fazio
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-28 19:00
CPC Classifications
B; B23; B23P; B23P19/00; B23P19/10; B23P19/102; B23P19/105; B25; B25J; B25J17/00; B25J17/02; B25J17/0208; G; G01; G01L; G01L5/00; G01L5/16; G01L5/164; G01L5/166; G01L5/22; G01L5/226
Claims Analysis
Total Claims: 24
Claim 1
Independent Claim
62 words
A force detecting system for an RCC device comprising: a first rigid, monolithic part; a second rigid, monolithic part spaced from said first part; compressible, shear deformable means interconnecting said first and second parts; and at least one axial proximity displacement sensor for detecting the distance between said parts; each said axial proximity detector being disposed along conically-disposed radii from a center.
Claim 2
Dependent Claim
62 words
A force detecting system for an RCC device comprising: a first rigid, monolithic part; a second rigid, monolithic part spaced from said first part; compressible, shear deformable means interconnecting said first and second parts; and at least one axial proximity displacement sensor for detecting the distance between said parts; each said axial proximity detector being disposed along conically-disposed radii from a center.
Claim 3
Dependent Claim
58 words
A force detecting system for an RCC device comprising: a first rapid, monolithic part; a second rigid, monolithic part spaced from said first part; compressible, shear deformable means interconnecting said first and second parts; at least one axial proximity displacement sensor for detecting the distance between said parts; and means for detecting relative axial rotation of said parts.
Claim 4
Dependent Claim
58 words
A force detecting system for an RCC device comprising: a first rapid, monolithic part; a second rigid, monolithic part spaced from said first part; compressible, shear deformable means interconnecting said first and second parts; at least one axial proximity displacement sensor for detecting the distance between said parts; and means for detecting relative axial rotation of said parts.
Claim 5
Dependent Claim
60 words
A force detecting system for an RCC device comprising: a first rigid, monolithic part; a second rigid, monolithic part spaced from said first part; at least three compressible, shear deformable members interconnecting said first and second parts and disposed along conical radii from a center; and at least one axial proximity displacement sensor for detecting the distance between said parts.
Claim 6
Dependent Claim
60 words
A force detecting system for an RCC device comprising: a first rigid, monolithic part; a second rigid, monolithic part spaced from said first part; at least three compressible, shear deformable members interconnecting said first and second parts and disposed along conical radii from a center; and at least one axial proximity displacement sensor for detecting the distance between said parts.
Claim 7
Dependent Claim
15 words
The system of claim 3 in which there are two spaced said axial proximity sensors.
Claim 8
Dependent Claim
15 words
The system of claim 3 in which there are three spaced said axial proximity sensors.
Claim 9
Dependent Claim
20 words
The system of claim 3 in which each said axial proximity detector is disposed along conically-disposed radii from said center.
Claim 10
Dependent Claim
21 words
The system of claim 3 further including lateral component displacement sensor means for detecting the relative lateral position of said parts.
Claim 11
Dependent Claim
16 words
The system of claim 3 further including means for detecting relative axial rotation of said parts.
Claim 12
Dependent Claim
28 words
The system of claim 3 further including means, responsive to at least one said axial proximity displacement sensor, for determining the axial force that caused the sensed displacement.
Claim 13
Dependent Claim
52 words
The system of claim 9 in which there are a plurality of axial proximity displacement sensors and said means for determining the axial force includes means for averaging the outputs of said axial proximity sensors and means for applying a scaling factor to convert the average axial displacement to an axial force.
Claim 14
Dependent Claim
60 words
A force detecting system for an RCC device comprising: a first rigid, monolithic part; a second rigid, monolithic part spaced from said first part; at least three compressible, shear deformable members interconnecting said first and second parts and disposed along conical radii from a center; and at least three axial proximity displacement sensors for detecting the distance between said parts.
Claim 15
Dependent Claim
60 words
A force detecting system for an RCC device comprising: a first rigid, monolithic part; a second rigid, monolithic part spaced from said first part; at least three compressible, shear deformable members interconnecting said first and second parts and disposed along conical radii from a center; and at least three axial proximity displacement sensors for detecting the distance between said parts.
Claim 16
Dependent Claim
27 words
The system of claim 11 in which said axial proximity displacement sensors are disposed along conically-disposed radii from said center and are located interspaced between said members.
Claim 17
Dependent Claim
27 words
The system of claim 11 further including means for averaging the outputs of said axial proximity sensors and applying a scaling factor to convert displacement to force.
Claim 18
Dependent Claim
35 words
The system of claim 11 further including means, responsive to the difference in displacement sensed by a pair of axial proximity displacement sensors, for determining the cocking angle of said parts relative to each other.
Claim 19
Dependent Claim
20 words
The system of claim 11 further including lateral displacement sensor means for detecting the relative lateral position of said parts.
Claim 20
Dependent Claim
16 words
The system of claim 11 further including means for detecting relative axial rotation of said parts.
Claim 21
Dependent Claim
81 words
A force detecting system for an RCC device comprising: a first rigid, monolithic part; a second rigid, monolithic part spaced from said first part; at least three compressible, shear deformable members interconnecting said first and second parts and disposed along conically-disposed radii from a center; at least one axial proximity displacement sensor for detecting the distance between said parts; and means, responsive to at least one said axial proximity displacement sensor, for determining the axial force that caused the sensed displacement.
Claim 22
Dependent Claim
81 words
A force detecting system for an RCC device comprising: a first rigid, monolithic part; a second rigid, monolithic part spaced from said first part; at least three compressible, shear deformable members interconnecting said first and second parts and disposed along conically-disposed radii from a center; at least one axial proximity displacement sensor for detecting the distance between said parts; and means, responsive to at least one said axial proximity displacement sensor, for determining the axial force that caused the sensed displacement.
Claim 23
Dependent Claim
80 words
A force detecting system for an RCC device comprising: a first rigid, monolithic part; a second rigid, monolithic part spaced from said first part; at least three compressible, shear deformable members interconnecting said first and second parts and disposed along conically-disposed radii from a center; at least three axial proximity displacement sensors for detecting the distance between said parts; and means for averaging the outputs of said axial proximity sensors and applying a scaling factor to convert displacement to force.
Claim 24
Dependent Claim
80 words
A force detecting system for an RCC device comprising: a first rigid, monolithic part; a second rigid, monolithic part spaced from said first part; at least three compressible, shear deformable members interconnecting said first and second parts and disposed along conically-disposed radii from a center; at least three axial proximity displacement sensors for detecting the distance between said parts; and means for averaging the outputs of said axial proximity sensors and applying a scaling factor to convert displacement to force.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1987-04-03 | 1987-10-03 | 1988-04-03 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1991-04-03 | 1991-10-03 | 1992-04-03 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1995-04-03 | 1995-10-03 | 1996-04-03 | $7700.00 | Window Closed / Lapsed |