US3618786A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Material-handling apparatus with end effector force resolver and feedback
Assignee: General Electric Canada Co
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Filing: 1969-01-02
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Granted: 1971-11-09
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Expires: 1989-01-02
Abstract
Abstract Force feedback is provided to a master member from a slave member by forces sensing elements located at the end of the slave member which exerts the force and by actuators located at the master member responsive to the signals developed by the forcesensing elements.
Inventors
- 👤 Bruce R Fick
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 10:05
CPC Classifications
B; B25; B25J; B25J3/00; B25J3/04; B25J19/00; B25J19/0091; F; F15; F15B; F15B13/00; F15B13/14; F15B9/00
Claims Analysis
Total Claims: 6
Claim 1
Independent Claim
216 words
A control system comprising a support member, a control member one end of which is pivotally connected to said support member and the other end of which is movable with respect to said support along a plurality of coordinates, a controlled member, one end of which is pivotally connected to said support member and the other end of which is movable with respect to said support along said plurality of coordinates, means responsive to the orientation of said control member for producing an identical orientation with respect to said support of said controlled member, an end effector connected to the other end of said controlled member for applying a force to an object in response to the movement of said other end of said control member, force-sensing means connected between said end element and said end effector for producing a plurality of signals, each signal corresponding in magnitude and direction to the respective component of force applied to said object parallel to a respective coordinate, and a plurality of actuators each connected to said control member and responsive to a respective one of said signals for producing a force corresponding to the force which produced the signal to restrain the movement of said control member in a direction parallel to the corresponding component of applied force.
Claim 2
Dependent Claim
216 words
A control system comprising a support member, a control member one end of which is pivotally connected to said support member and the other end of which is movable with respect to said support along a plurality of coordinates, a controlled member, one end of which is pivotally connected to said support member and the other end of which is movable with respect to said support along said plurality of coordinates, means responsive to the orientation of said control member for producing an identical orientation with respect to said support of said controlled member, an end effector connected to the other end of said controlled member for applying a force to an object in response to the movement of said other end of said control member, force-sensing means connected between said end element and said end effector for producing a plurality of signals, each signal corresponding in magnitude and direction to the respective component of force applied to said object parallel to a respective coordinate, and a plurality of actuators each connected to said control member and responsive to a respective one of said signals for producing a force corresponding to the force which produced the signal to restrain the movement of said control member in a direction parallel to the corresponding component of applied force.
Claim 3
Dependent Claim
16 words
The combination of claim 1 in which said coordinates are three in number and mutually perpendicular.
Claim 4
Dependent Claim
60 words
The combination of claim 1 in which said force-sensing means includes a plurality of force resolvers, each force resolver including a pair of members which become displaced in accordance with the component of force applied along a respective direction thereof and a signal-generating means responsive in polarity and magnitude to thE direction and magnitude of the displacement of said members.
Claim 5
Dependent Claim
22 words
The combination of claim 3 in which said force resolvers are connected in series between said end element and said end effector.
Claim 6
Dependent Claim
16 words
The combination of claim 3 in which said coordinates are three in number and mutually perpendicular.
References Cited (Backward Citations)
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1974-11-08 | 1975-05-10 | 1975-11-09 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1978-11-08 | 1979-05-10 | 1979-11-09 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1982-11-08 | 1983-05-10 | 1983-11-09 | $7700.00 | Window Closed / Lapsed |