SME MS920213

THIS PAPER PRESENTS AN INTERESTING DESIGN OF AN OPTICAL WRIST SENSOR FOR DIRECT MEASUREMENT OF THREE DEGREES-OF- FREEDOM (DOF) ORIENTATION. THE DESIGN CONCEPT WAS MOTIVATED BY THE RECENT DEVELOPMENT OF A BALL-JOINT-LIKE VARIABLE- RELUCTANCE (VR) SPHERICAL MOTOR WHICH OFFERS SOME ATTRACTIVE FEATURES BY COMBINING PITCH, ROLL, AND YAW IN A SINGLE JOINT. THE USE OF SINGLE-AXIS ENCODERS FOR MEASURING THREE DOF ORIENTATION OFTEN REQUIRES A MECHANISM TO HOUSE THE ENCODER WHICH INTRODUCES FRICTION AND STICTION. THE THREE DOF OPTICAL WRIST SENSOR ELIMINATES FRICTION SOURCES AND THUS HAS POTENTIAL APPLICATIONS, INCLUDING A SPHERICAL WRIST SENSOR FOR PLASMA AND LASER CUTTING, AND A TELE-OPERATED JOYSTICK WHERE SMOOTH, ISOTROPIC MANIPULATION IS REQUIRED.

Product Details

Published:

06/01/1992

Number of Pages:

13

File Size:

1 file , 940 KB