Robotic force/torque sensor with controlled thermal conduction
A robotic force/torque (FT) sensor restricts the conduction of heat, generated by an attached tool, through the FT sensor body to a radial direction. Heat from the tool is channeled to the center of the FT sensor body by a thermally conductive member. Additionally, heat from the tool is insulated from portions of the FT sensor body other than its center by a thermally insulating member. Transducers, such as strain gages attached to the surfaces of deformable beams, are disposed at a substantially equal distance from the center of the FT sensor body. Accordingly, as heat conducts through the FT sensor body from the center radially outwardly, all transducers experience substantially equal thermal load at any given time. Embodiments of the present invention substantially eliminate thermal gradients across groups of transducers that are wired in differential circuit topologies, such as half-bridge or quarter-bridge, enhancing the ability of such circuits to reject a common-mode signal component caused by thermal changes to the FT sensor body or the transducers themselves. Elimination of thermal gradients in the FT sensor body, other than one in the radial direction, enhances the effectiveness of known temperature compensation techniques.
1. A robotic force/torque sensor interposed between a robot and a heat-generating tool, comprising:
a tool interface area having a central bore;
a mounting interface area disposed annularly around, and spaced apart from, the tool interface area;
a plurality of deformable beams extending radially around the tool interface area and connecting the tool interface area to the mounting interface area;
transducers affixed to surfaces of at least some of the deformable beams and configured to transduce tensile and compressive strains at the deformable beam surfaces to electrical signals;
a thermally conductive member configured to contact the central bore in thermally conductive relationship; and
a thermally insulating member configured to insulate portions of the robotic force/torque sensor other than the central bore from thermal contact with the thermally conductive member.
2. The robotic force/torque sensor of claim 1 wherein heat from the heat-generating tool is conducted through the thermally conductive member to the central bore, and conducts radially outwardly through the tool interface area and deformable beams.
3. The robotic force/torque sensor of claim 2 wherein the transducers comprises strain gages affixed to the surfaces of deformable beams at substantially the same distance along the beams' length, measured from the tool interface area, whereby all strain gages experience temperature changes due to the heat-generating tool at substantially the same time.
4. The robotic force/torque sensor of claim 1 wherein the thermally conductive member comprises:
a shank sized and shaped to thermally contact an inner surface of the central bore; and
a flange connected to the shank and sized and shaped to extend at least partially over a first surface of the tool interface area.
5. The robotic force/torque sensor of claim 4 wherein the shank is press-fit into the central bore.
6. The robotic force/torque sensor of claim 4 further comprising a thermally conductive paste between the thermally conductive member shank and the inner surface of the central bore.
7. The robotic force/torque sensor of claim 4 wherein the thermally insulating member comprises:
an annular ring disposed between the first surface of the tool interface area and the flange of the thermally conductive member.
8. The robotic force/torque sensor of claim 7 further comprising fasteners connecting the thermally conductive member flange and the tool interface area, with the thermally insulating member interposed between the flange and the tool interface area.
9. The robotic force/torque sensor of claim 7 wherein adhesive connects one side of the thermally insulating member to the flange of the thermally conductive member, and adhesive connects the other side of the thermally insulating member to a facing surface of the tool interface area.
10. The robotic force/torque sensor of claim 1 wherein the heat-generating tool is attached to the thermally conductive member.
11. A method of operating a robotic force/torque sensor having a tool interface area having a central bore, a mounting interface area disposed annularly around, and spaced apart from, the tool interface area, a plurality of deformable beams extending radially around the tool interface area and connecting the tool interface area to the mounting interface area, and transducers affixed to surfaces of at least some of the deformable beams and configured to transduce tensile and compressive strains at the deformable beam surfaces to electrical signals, the method comprising:
placing a thermally conductive member in thermally conductive relationship with the central bore; and
insulating portions of the robotic force/torque sensor other than the central bore from thermal contact with the thermally conductive member by use of a thermally insulating member;
whereby heat from a heat-generating tool attached to the thermally conductive member is conducted through the thermally conductive member to the central bore, and conducts radially outwardly through the tool interface area and deformable beams.
12. The method of claim 11 wherein the transducers comprise strain gages affixed to the surfaces of deformable beams at substantially the same distance, along the beams' length, from the tool interface area, whereby all strain gages experience temperature changes due to the heat-generating tool at substantially the same time.
13. The method of claim 11 wherein the thermally conductive member comprises:
a shank sized and shaped to thermally contact an inner surface of the central bore; and
a flange connected to the shank and sized and shaped to extend at least partially over a first surface of the tool interface area.
14. The method of claim 13 wherein the shank is press-fit into the central bore.
15. The method of claim 13 further comprising placing a thermally conductive paste between the thermally conductive member shank and the inner surface of the central bore.
16. The method of claim 13 wherein the thermally insulating member comprises:
an annular ring disposed between the first surface of the tool interface area and the flange of the thermally conductive member.
17. The method of claim 16 further comprising connecting the thermally conductive member flange to the tool interface area with fasteners, with the thermally insulating member interposed between the flange and the tool interface area.
18. The method of claim 16 further comprising applying adhesive between one side of the thermally insulating member and the flange of the thermally conductive member, and applying adhesive between the other side of the thermally insulating member and a facing surface of the tool interface area.
19. The method of claim 11 further comprising attaching the heat-generating tool to the thermally conductive member.