US4680465A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Multi-axis force controller
Assignee: Parker Intangibles LLC
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Filing: 1984-04-23
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Granted: 1987-07-14
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Expires: 2004-04-23
Abstract
Abstract A force controller wherein lateral, axial and rotational force on a handle (10) are opposed by bending, extension, compression and torsional forces in a tubular flexure element (12) that includes lateral rings (92a . . . 92n) and longitudinal beams (96a . . . 96n-1). A translating plate (23) is controlled in accordance with the torsion and deflection of flexure element (12) to provide optical control signals from code element (56) and read head (64) for three axes of motion. Axial forces on handle (10) cause extension or compression of flexure element (12) which is linked to fin (42). Pivotal movement of fin (42) in response to such extension and compression provides optical control signals from code element (72) and read head (74) for a fourth axis of motion.
Inventors
- 👤 Curtis E. Stevens
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-25 00:18
CPC Classifications
G; G01; G01D; G01D5/00; G01D5/26; G01D5/32; G01D5/34
Claims Analysis
Total Claims: 18
Claim 1
Independent Claim
121 words
A controller that provides control signals in response to force commands, said controller comprising: a body; a flexure element having one end laterally and longitudinally fixed to said body; a handle secured to the end of the flexure element opposite from said body such that force commands applied to said handle are transmitted to said flexure element, a position ring concentrically arranged about said flexure element and maintained in said body, said ring being movable with respect to said body in a plane orthogonal to the longitudinal axis of the flexure element; and position sensing means connected to said body and to said position ring, said sensing means being responsive to the movement of said position ring to provide control signals.
Claim 2
Dependent Claim
121 words
A controller that provides control signals in response to force commands, said controller comprising: a body; a flexure element having one end laterally and longitudinally fixed to said body; a handle secured to the end of the flexure element opposite from said body such that force commands applied to said handle are transmitted to said flexure element, a position ring concentrically arranged about said flexure element and maintained in said body, said ring being movable with respect to said body in a plane orthogonal to the longitudinal axis of the flexure element; and position sensing means connected to said body and to said position ring, said sensing means being responsive to the movement of said position ring to provide control signals.
Claim 3
Dependent Claim
102 words
A controller that provides control signals in response to force commands, said controller comprising: a body; a flexure element having one end laterally and longitudinally secured to said body, said flexure element being constructed to have longitudinal elasticity with respect to said body; a handle secured to the end of said flexure element opposite from said body such that longitudinal force commands applied to said handle are transmitted to said flexure element; longitudinal sensing apparatus connected to said flexure element and responsive to longitudinal elasticity of said flexure element; and position sensing means responsive to the movement of said longitudinal sensing apparatus.
Claim 4
Dependent Claim
102 words
A controller that provides control signals in response to force commands, said controller comprising: a body; a flexure element having one end laterally and longitudinally secured to said body, said flexure element being constructed to have longitudinal elasticity with respect to said body; a handle secured to the end of said flexure element opposite from said body such that longitudinal force commands applied to said handle are transmitted to said flexure element; longitudinal sensing apparatus connected to said flexure element and responsive to longitudinal elasticity of said flexure element; and position sensing means responsive to the movement of said longitudinal sensing apparatus.
Claim 5
Dependent Claim
133 words
A controller that provides control signals in response to force commands, said controller comprising: a body; a flexure element having one end secured to said body; a handle secured to the end of said flexure element opposite from said body such that lateral, torsional and longitudinal force commands applied to said handle are transmitted to said flexure element; a position ring concentrically arranged about said flexure element and maintained in said body, said ring being translationally and rotatably movable in a plane substantially orthogonal to the longitudinal axis of the flexure element; longitudinal sensing apparatus connected to said flexure element and responsive to longitudinal elasticity of said flexure element; and position sensing means responsive to the translational and rotational movement of said position ring and to the longitudinal elasticity of said flexure element.
Claim 6
Dependent Claim
133 words
A controller that provides control signals in response to force commands, said controller comprising: a body; a flexure element having one end secured to said body; a handle secured to the end of said flexure element opposite from said body such that lateral, torsional and longitudinal force commands applied to said handle are transmitted to said flexure element; a position ring concentrically arranged about said flexure element and maintained in said body, said ring being translationally and rotatably movable in a plane substantially orthogonal to the longitudinal axis of the flexure element; longitudinal sensing apparatus connected to said flexure element and responsive to longitudinal elasticity of said flexure element; and position sensing means responsive to the translational and rotational movement of said position ring and to the longitudinal elasticity of said flexure element.
Claim 7
Dependent Claim
21 words
The controller of claim 1 or 3 wherein said position sensing means is responsive to rotational movement of said position ring.
Claim 8
Dependent Claim
45 words
The controller of claim 1 or 3 wherein said position sensing means comprises: code means attached to said position ring; and means for reading said code means, said reading means being connected to said body and cooperating with said code means to provide control signals.
Claim 9
Dependent Claim
41 words
The controller of claim 1 or 3 wherein said position sensing means comprises: optical code means attached to said position ring; and an optical read head connected to said body and located adjacent said code means for scanning said code means.
Claim 10
Dependent Claim
94 words
The controller of claim 1 or 3 wherein said position sensing means comprises: optical code means attached to said position ring; an optical read head connected to said body and located adjacent said code means for scanning said code means; and first and second means for communicating optical signals to said read head, said first and second communicating means being connected to said read head at adjacent positions for incrementally reading said code means, said first communicating means providing a signal delay in comparison to said second communicating means to discriminate respective signal returns.
Claim 11
Dependent Claim
60 words
The controller of claim 1 or 3 wherein said position sensing means comprises: a plurality of optical code means attached to said position ring; a plurality of optical read heads respectively corresponding to each of said optical code means; and means for selectively delaying optical signals communicated from said read heads to discriminate signal returns from the respective read heads.
Claim 12
Dependent Claim
92 words
The controller of claim 2 or 3 wherein said longitudinal sensing apparatus comprises: a position fin that is pivotally mounted to said body, said position fin having a face in a plane that is substantially parallel to the longitudinal axis of said flexure element and a pivotal axis that is substantially orthogonal to the longitudinal axis of the flexure element; and control linkage connected to said flexure element and to said position fin, said control linkage providing pivotal motion of the position fin in response to longitudinal elasticity of the flexure element.
Claim 13
Dependent Claim
64 words
The controller of claim 9 wherein said control linkage comprises: a rod joined at one end to said flexure element; and an arm that is connected at one end to the end of said rod opposite the flexure element, said arm being fastened at the other end to said position fin to pivot the fin in response to longitudinal elasticity of said flexure element.
Claim 14
Dependent Claim
74 words
The controller of claim 1 or 3 wherein said position ring is concentrically arranged about said flexure element, the inner radius of said position ring being provided with a groove and said flexure element being provided with a lateral pin having end portions extending from the flexure element and engaged in the groove of the position ring such that the flexure element rotates said position ring in response to torsional movement of said handle.
Claim 15
Dependent Claim
71 words
The controller of claim 3 wherein said position ring is concentrically arranged about said flexure element the inner radius of said position ring being provided with a groove and said flexure element being provided with an extension that engages the sides of the groove in response to torsional movement of said handle to rotate said position ring, said extension traveling along said groove in response to longitudinal movement of the handle.
Claim 16
Dependent Claim
28 words
The controller of claim 3 or 12 wherein said sensing means comprises: an optical position code means; and an optical read head that scans said position code means.
Claim 17
Dependent Claim
102 words
The controller of claim 1 or 3 wherein said position sensing means comprises: first code element arranged to indicate the movement of said position ring along one of two ordinate axis; a second code element arranged to indicate the movement of said position ring along the other ordinate axis; a third code element arranged to indicate the rotational movement of said position ring; a plurality of optical read heads respectively corresponding to each of said first, second and third code elements; and means for selectively delaying optical signals communicated from said read heads to discriminate signal returns from the respective read heads.
Claim 18
Dependent Claim
98 words
The controller of claim 1 or 3 wherein said sensing means comprises: a first code element arranged along one ordinate axis of said position ring; a second code element arranged along the other ordinate axis of said position ring; a third code element radially arranged on said position ring; a fourth code element radially arranged on said fin; a plurality of optical read heads respectively corresponding to each of said first, second, third, and fourth code elements; and means for selectively delaying opitcal signals communicated from said read heads to discriminate signal returns from the respective read heads.
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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) | 1990-07-13 | 1991-01-12 | 1991-07-14 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1994-07-13 | 1995-01-12 | 1995-07-14 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1998-07-13 | 1999-01-12 | 1999-07-14 | $7700.00 | Window Closed / Lapsed |