53 Robotics: Force/Torque, Accelerometers, Tactile part2
Description
This article is from the Robotics FAQ, by Kevin Dowling nivek@cs.cmu.edu with numerous contributions by others.
53 Robotics: Force/Torque, Accelerometers, Tactile part2
"Hughes STX "
4400 Forbes Blvd
Lanham, MD 20706
tel: 301.794.5016
fax: 301.306.0963
A 6-dof end-effector with automatic load sensing and compensation.
Control modes include position control (cartesian with user spec-ed
poses and frames), impedence and force control modes. Programmable
behaviors (sliding, hinge, move-to-touch, guarded move, follow etc),
open architecture (VxWorks, VME, user-linakable libraries) and a lot
more. Interfaces available included RS-232, ethernet, RS-422 and SCSI.
Pretty amazing end-effector!
"Interlink Electronics "
1110 Mark Ave.
Carpinteria, CA 93013
tel: 805.484.8855
805.484.1331 (product support)
fax: 805.484.8989
Force Sensing resistors made from polymer thick films. Very thin.
Response is approx. 1/R to force. Article in March 1993 issue of
Electronics Now/Radio Electronics.
"JR3 "
22 Harter Avenue
Woodland, CA 95695
tel: 916.661.3677
6-DOF force-torque sensors. Strain gage technology. Newer packages
have all electronics built into the sensor. Make some high-force
devices as well. CMU's Ambler used JR3's on all the feet with good
success. Complete force torque data at 8Khz, signal digitization
within sensor body, low noise susceptibility, synch serial at 2MHz,
inexpensive cabling.
"Merritt Systems, Inc."
P.O. Box 2103
Merritt Island, FL 32954-2103
Contact: Dr. Dan Wegerif
tel: 407.452.7828
fax: 407.452.3698
Sensor Skin for Robots. The Skin is designed to assist robots working
in constrained, hazardous, dynamic, or high cost environments. The
system uses a whole-arm proximity sensing systems for articulated
robots that provides complete voverage of the entire manipulator to
ensure that every obstacle in the robots path can be detected and
avoided. The proximity sensing technology is based on IR arrays which
they call "SensorCells". It allows the use of IR, acoustic and
capacitive (under-development) sensors in the same sensor skin. The
two main components of the Skin are smart sensor modules and the
flexible printed circuit board skin. Module sockets are placed at
regular intervals on the flexible skin and simply plugged in by the
user where required. Redundant cables carrying data and power are
connected to each panel. But a minimum of four cables can be used for
up to 1024 sensors.
"Silicon Designs, Inc. "
1445-NW Mall Street
Issaquah, WA. 98027-5344
tel: 206.391.8329
fax: 206.391.0446
Silicon Designs makes capacitive accelerometers.
Model 1010, Digital output:
Produces Digital pulse train in which the density of pulses
(number of pulses a second) is proprtional to applied
acceleration. It operates with a single +5 volt power supply
and requires a clock of 100kHz - 1MHz. The output is
ratiometric to the clock frequency and independent of the power
supply voltage. Two forms of digital signals are provided for
direct interfacing to a microprocessor or counter. This devices
comes in a PLCC package that is smaller than a penny.
Model 1210, Analog output:
Provides two analog outputs, 1-4 volts, or 4-1 volt, with O g's
at 2.5 volts. The outputs can be used either differentially or
single ended referenced to 2.5 volts. Two reference
voltages--+5.0 and +2.5 volts (nominal)-- are required; the
output scale factor is ratiometric to the +5 volt reference
voltage.
Prices start at about $100 and they offer a digital accelerometer
evaluation board for $200.
"Silicon Microstructures, Inc. "
46725 Fremont Boulevard
Fremont CA. 94538
tel: 510.490.5010
fax: 510.490.1119
Model 7170 series and 7130 series capacitive accelerometers. These are
relatively large devices with built in ASIC signal processing. They
have very good accuracy specs and are pre-calibrated. They also make
pressure sensors.
"Spectra Symbol"
3101 West 2100 South
Salt Lake City, UT 84119
Bend sensor for glove device. Their business is custom membrane
controls: switches, membrane potentiometers, and the bend sensors.
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