Isolation mechanism for force/torque sensor
An isolation mechanism that is configured for a robotic manipulator is provided. The robotic manipulator includes an arm to be driven by a transmission, a force/torque sensor, and one or more sensing elements configured to sense forces and torques applied to the force/torque sensor, wherein the isolation mechanism includes a body for coupling to an output of the transmission and for coupling to the force/torque sensor, wherein the body deforms in response to forces induced by the transmission to mechanically isolate the force/torque sensor from forces induced by the transmission.
1 . An isolation mechanism that is configured for a robotic manipulator, the robotic manipulator comprising an arm including at least one joint configured to be driven by a strain wave gear transmission that comprises an output, and a force/torque sensor comprising a sensor body including a stationary part and a movable part coupled to and being movable relative to the stationary part, and one or more sensing elements configured to sense forces and torques applied to the movable part, wherein the isolation mechanism comprises:
a body that is configured to couple to the output of the strain wave gear transmission and configured to couple to the sensor body of the force/torque sensor, wherein the body is configured to deform in response to forces induced by the strain wave gear transmission to mechanically isolate the force/torque sensor from forces induced by the strain wave gear transmission.
2 . The isolation mechanism of claim 1 , wherein the body includes at least one elastic part, wherein the at least one elastic part is configured to deform in response to forces induced by the strain wave gear transmission, and wherein the at least one elastic part is configured to couple to the output of the strain wave gear transmission.
3 . The isolation mechanism of claim 2 , wherein the body further includes at least one rigid part, wherein at least one rigid part is configured to couple to one of the stationary part and the movable part of the force/torque sensor.
4 . The isolation mechanism of claim 3 , wherein the at least one elastic part is disposed concentrically about the at least one rigid part.
5 . The isolation mechanism of claim 3 , wherein the at least one elastic part comprises a plurality of elastic segments connected to the at least one rigid part.
6 . The isolation mechanism of claim 5 , wherein the body comprises a first surface and a second surface opposite the first surface, and wherein a geometrical configuration of each elastic segment is defined in part by at least two hollows formed adjacent to each elastic segment, the at least two hollows defined through the body between the first surface and the second surface.
7 . The isolation mechanism of claim 3 , wherein either the at least one rigid part or the at least one elastic part is configured to be monolithically formed with the output of the strain wave gear transmission.
8 . The isolation mechanism of claim 2 , wherein the body comprises a planar configuration and a central axis, and an opening formed about the central axis, wherein the at least one elastic part is configured to deform within a plane perpendicular to the central axis.
9 . The isolation mechanism of claim 8 , wherein the at least one elastic part is configured to deform within the plane in a direction transverse to the central axis.
10 . The isolation mechanism of claim 8 , wherein the at least one elastic part is configured to deform within the plane in a rotational direction about the central axis.
11 . The isolation mechanism of claim 8 , wherein the at least one elastic part is configured to deform beyond the plane in an axial direction along the central axis.
12 . The isolation mechanism of claim 8 , wherein the sensor body of the force/torque sensor comprises a planar configuration and an opening, and wherein:
the opening formed in the body is configured to align with the opening in the sensor body.
13 . The isolation mechanism of claim 1 , further comprising at least a first body and a second body, each body comprising at least one elastic part and at least one rigid part, and wherein the at least one elastic part or the at least one rigid part of the first body is coupled to the at least one elastic part or the at least one rigid part of the second body.
14 . The isolation mechanism of claim 1 , wherein the isolation mechanism is absent any electrical or electronic components.
15 . An isolated sensor assembly comprising:
an isolation mechanism configured to couple to an output of a strain wave gear transmission; and
a force/torque sensor comprising a sensor body including a stationary part and a movable part coupled to and being movable relative to the stationary part, and one or more sensing elements configured to sense forces and torques applied to the movable part, wherein the force/torque sensor is coupled to the isolation mechanism; and
wherein the isolation mechanism is configured to deform in response to forces induced by the strain wave gear transmission to mechanically isolate the force/torque sensor from forces induced by the strain wave gear transmission.
16 . The isolated sensor assembly of claim 15 , wherein the isolation mechanism comprises a body including at least one elastic part, wherein the at least one elastic part is configured to deform in response to forces induced by the strain wave gear transmission, and wherein the at least one elastic part configured to couple to the output of the strain wave gear transmission.
17 . The isolated sensor assembly of claim 16 , wherein the body further includes at least one rigid part, wherein at least one rigid part is coupled to one of the stationary part and the movable part of the force/torque sensor.
18 . The isolated sensor assembly of claim 17 , wherein the at least one elastic part is disposed concentrically about the at least one rigid part.
19 . The isolated sensor assembly of claim 17 , wherein the at least one elastic part comprises a plurality of elastic segments connected to the at least one rigid part.
20 . The isolated sensor assembly of claim 19 , wherein the body of the isolation mechanism comprises a first surface and a second surface opposite the first surface, and wherein a geometrical configuration of each elastic segment is defined in part by at least two hollows formed adjacent to each elastic segment, the at least two hollows defined through the body between the first surface and the second surface.
21 . The isolated sensor assembly of claim 17 , wherein either the at least one rigid part or the at least one elastic part of the isolation mechanism is configured to be monolithically formed with the output of the strain wave gear transmission.
22 . The isolated sensor assembly of claim 16 , wherein the body of the isolation mechanism comprises a planar configuration and a central axis, and an opening formed about the central axis, wherein the at least one elastic part is configured to deform within a plane perpendicular to the central axis.
23 . The isolated sensor assembly of claim 22 , wherein the at least one elastic part is configured to deform within the plane in a direction transverse to the central axis.
24 . The isolated sensor assembly of claim 22 , wherein the at least one elastic part is configured to deform within the plane in a rotational direction about the central axis.
25 . The isolated sensor assembly of claim 22 , wherein the at least one elastic part is configured to deform beyond the plane in an axial direction along the central axis.
26 . The isolated sensor assembly of claim 22 , wherein the sensor body of the force/torque sensor comprises:
a planar configuration and an opening aligned with the opening of the isolation mechanism; and
a plurality of deformable members connecting the movable part and the stationary part, wherein the one or more sensing elements are disposed on the deformable members.
27 . The isolated sensor assembly of claim 15 , wherein the isolation mechanism comprises at least a first body and a second body, each comprising at least one elastic part and at least one rigid part, and wherein the at least one elastic part or the at least one rigid part of the first body is coupled to the at least one elastic part or the at least one rigid part of the second body.
28 . The isolated sensor assembly of claim 15 , wherein the isolation mechanism is absent any electrical or electronic components.