EP0941507A1 - Dispositif de mesure de position pour la determination de deplacements avec au moins trois degres de liberte - Google Patents

Dispositif de mesure de position pour la determination de deplacements avec au moins trois degres de liberte

Info

Publication number
EP0941507A1
EP0941507A1 EP97912410A EP97912410A EP0941507A1 EP 0941507 A1 EP0941507 A1 EP 0941507A1 EP 97912410 A EP97912410 A EP 97912410A EP 97912410 A EP97912410 A EP 97912410A EP 0941507 A1 EP0941507 A1 EP 0941507A1
Authority
EP
European Patent Office
Prior art keywords
measuring device
spring
position measuring
freedom
degrees
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP97912410A
Other languages
German (de)
English (en)
Inventor
Martin Sundin
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sundin GmbH
Original Assignee
Sundin Martin
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sundin Martin filed Critical Sundin Martin
Publication of EP0941507A1 publication Critical patent/EP0941507A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G9/04737—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks with six degrees of freedom
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/0474—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks characterised by means converting mechanical movement into electric signals
    • G05G2009/04751—Position sensor for linear movement
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/0474—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks characterised by means converting mechanical movement into electric signals
    • G05G2009/04755—Magnetic sensor, e.g. hall generator, pick-up coil
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/0474—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks characterised by means converting mechanical movement into electric signals
    • G05G2009/04762—Force transducer, e.g. strain gauge
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20012—Multiple controlled elements
    • Y10T74/20201—Control moves in two planes

Definitions

  • Position measuring device for determining deflections with at least three degrees of freedom
  • the invention relates to a position measuring device according to the preamble of the independent claims.
  • Devices of this type are used in particular as input or control devices, e.g. to control screen graphics (e.g. for CAD systems) and computer animations, to control robots, to move parts of machine tools and measuring machines (e.g. headstock and measuring heads), as sensors or to control remote-controlled probes and surgical devices.
  • control screen graphics e.g. for CAD systems
  • computer animations e.g. for CAD systems
  • machine tools and measuring machines e.g. headstock and measuring heads
  • sensors or to control remote-controlled probes and surgical devices e.g. to control remote-controlled probes and surgical devices.
  • the object is therefore to provide a device of the type mentioned at the outset which avoids these disadvantages. This problem is solved by the subject matter of claim 1.
  • inductances of the coupling device or of parts of the coupling device are determined.
  • the inductance of springs of the coupling device which is dependent on the elongation state.
  • the electrical resistance or the capacitance of parts of the coupling device are suitable as further electrical parameters to be measured.
  • these parameters are preferably determined sequentially, so that the individual measurements do not interfere with one another and the outlay on equipment remains low.
  • the coupling device preferably comprises a plurality of spring elements, in particular springs, which keep the two reference parts movable at a distance from one another with the desired number of degrees of freedom.
  • springs in particular springs
  • the spacer element is connected in an articulated manner to one or both reference parts, for example via ball joints.
  • the spacer element can be designed to be compressible in its longitudinal direction.
  • the device is preferably designed in such a way that the possible deflection of the reference parts against one another is perceived as relatively large when actuated by hand, ie that it is at least about one centimeter or 20 ° in each degree of freedom. Such deflections are clearly perceived by the human operator and allow the device to be guided safely.
  • the device according to the invention is particularly suitable for use as an EDP device, control device or measuring device.
  • FIG. 1 shows a first embodiment of the invention
  • FIG. 2 shows a detailed view of the spacer element of the embodiment according to FIG. 1,
  • FIG. 3 is a block diagram of a circuit for measuring the spring induction.
  • FIG. 4 a spring with a metal core
  • FIG. 5 a spring with a metal jacket
  • FIG. O a spring with a capacitive measuring arrangement
  • FIG. 7 a spring with a force sensor
  • FIG. 8 a second embodiment of the invention
  • FIG. 9 a side view of a capacitive measuring arrangement for the embodiment of FIG. 8,
  • FIG. 10 is a plan view of the arrangement of FIG. 9,
  • FIG. 11 shows a third embodiment of the invention with only five degrees of freedom
  • FIG. 12 shows a fourth embodiment of the invention
  • 13 shows a fifth embodiment of the invention with Switzerlandfe ⁇ ern
  • 14 shows a sixth embodiment of the invention with compression springs
  • FIG. 15 shows a further embodiment of the invention with a total of nine springs
  • FIG. 16 shows an alternative to the embodiment according to FIG
  • Fig. 17 is a vertical section along line XVII-XVII of Fig. 16, and Fig. 18, the attachment of the springs in the
  • the device can be used with a handle, for example, as a "computer mouse" with up to six degrees of freedom, i.e. as a hand-sized device, the movements of which are generated, measured and transferred to a target system with one hand. Other applications are also listed at the conclusion or description.
  • the device has two platform frames 1, 2, which form the reference parts, the relative position of which is determined.
  • the platform 1 is hereinafter referred to as a fixed platform, the platform 2 as a movable platform, but the platform 2 can also be fixed and the platform 1 can be arranged to be movable or both platforms can be arranged to be movable.
  • tension springs 3 are arranged between the two platforms, which are preferably designed as spiral springs made of steel or copper alloys.
  • the tension springs 3 are not parallel to one another and are also not parallel to a single plane. They extend from three lower points 4 of the fixed platform 1 to three upper points 5 of the movable platform 2.
  • the lower and upper points preferably each lie approximately on the corners of an equilateral triangle, the triangle of the lower points 4 being rotated by 60 ° relative to that of the upper points 5 is.
  • Two tension springs 3 extend from each lower point 4, one to each of the adjacent upper points 4. It is also possible to arrange the tension springs in a different way between the platforms, where they are preferably not parallel in this embodiment and are chosen such that the relative position of the two platforms can be calculated from their lengths.
  • This has a lower ball 7 and an upper ball 8, which are located in corresponding holes 9 and 10 of the platforms 1 and 2 and form two ball joints with these.
  • the lower ball 7 is fixedly connected to a rod 11, on which the upper ball 8 is arranged so that it can be moved slowly.
  • a compression spring 12 shown schematically designed as a spiral spring. In the assembled state according to FIG. 1, the compression spring 12 is preloaded and urges the outer ball 5 and thus the upper platform 2 upwards. Thus, the compression spring 12 counteracts the force of the tension springs 3.
  • the upper platform 2 can be deflected or moved with respect to the lower platform 1 in all three translatory and all ⁇ rei rotary degrees of freedom, since the spring-elastic coupling arrangement, consisting of the spacer element 6 and the tension springs 3, deflections in all directions - and directions of displacement allowed.
  • the lower, fixed platform 1 When used as an input device for computers, the lower, fixed platform 1 can rest on a table while the user actuates a handle attached to the upper, movable platform 2.
  • the Deflections (ie the rotations and the translations) of the movable platform 2 can be determined by various methods, which are discussed below.
  • the deflection or movement of the upper platform is calculated by measuring the inductance of the tension springs 3.
  • the relationship is used here that the inductance L F of a coil-shaped spiral spring is approximately proportional to zW / g, where z denotes the number of turns, W the winding area and g the pitch.
  • the inductance L F is therefore approximately proportional to the reciprocal length lp (cf. FIG.
  • each tension spring 3 forms the inductivity L F in an LC oscillator 20.
  • the spring ends are connected to supply lines, which are not shown in FIG. 1 are.
  • each LC oscillator 20 is given in a known manner by the inductance L F and its parallel capacitance.
  • the value of the inductance L F can thus be calculated from the frequency and the given value of the capacitance.
  • Each oscillator 20 has a control input through which it can be switched on and off. When switched off, the oscillator does not vibrate and its output is high-impedance. If the oscillator is switched on, it oscillates and generates an output Signal. The outputs of the oscillators 20 are combined and are led to a frequency counter 22.
  • the controller 21 controls the oscillators 20 one after the other in sequential measurement phases.
  • the frequency of which is measured by the frequency counter 22 and then passed on to a computer (not shown).
  • the inductances L of all tension springs 3 can be determined in succession in six measurement phases. This sequential operation prevents the measurements of the individual springs from influencing each other. Furthermore, only a single frequency counter 22 is required.
  • springs with a diameter of 5 mm, a winding number of ⁇ > 0 and, depending on the elongation, a pitch between 0.5 and 1.0 mm are used, ie the inductance L F is in the order of a few ⁇ H.
  • the oscillators are dimensioned so that their frequencies are in the range of a few megahertz. This enables an exact measurement or frequency payment to be carried out, for example, within one millisecond.
  • each tension spring 3 can be provided with a core 30 or jacket 31 of high magnetic permeability, as is shown in FIGS. 4 and 5.
  • the core 30 or jacket 31 can be attached to a spring winding, for example, so that it maintains its vertical position.
  • other electrical parameters of the coupling arrangement 3, 6 can also be measured. Since the specific electrical resistance of spring steel increases when deformed, the lengths 1 F of the tension springs 3 (and / or the compression spring 12) can also be determined, for example, via their electrical resistance R F. Such a measurement is also preferred again executed sequentially so that the switching effort is reduced.
  • electrical capacitances in the coupling arrangement 3, 6 can also be measured.
  • an arrangement according to FIG. 4 or 5 can be used, the core 30 or the jacket 31 being insulated from the spring 3 and used as an electrode of a capacitor.
  • the second electrode of the capacitor then forms the spring.
  • the KAPA quote C F of the capacitor thus formed depends depend on the number of spring coils located in the region of the core 30 and sheath 31 are located.
  • the capacitance measurement is again preferably carried out sequentially.
  • FIG. 6 A further capacitive measurement is shown in FIG. 6.
  • the surface 3 is surrounded by two jacket sleeves 31a, 31b, which are telescopically pushed into one another and electrically isolated from one another.
  • One sleeve 31a is attached to the upper, and the other sleeve 31b to the lower spring end.
  • the capacitance a of the capacitor 31a, b formed is linearly dependent on the length of the spring. 6 does not necessarily have to be arranged around a spring.
  • the spring 3 can also be galvanized.
  • a device with such a coupling arrangement is not reset, i.e. if platform 2 is deflected and then released, it will remain in its deflected position.
  • Non-electrical properties of the coupling arrangement 3, 6 can also be measured in order to determine their state of deformation. For example, measurements of forces in the coupling arrangement are particularly useful.
  • the tension springs 3 can thus be provided with a force sensor 32, as is shown in FIG. 6. This sensor generates a signal proportional to the tensile force F F of the spring 3, from which the spring length can in turn be determined. Another example of a device with force measurement is described below.
  • a mechanical natural frequency or resonance frequency f F of one or more of the springs 3 can also be determined. Since the natural frequencies of the springs depend on their state of expansion, the spring length can also be determined using such a measurement.
  • FIG. 8 shows an embodiment of the device with only three tension springs 3 and a spacer element 6.
  • the spacer element 6 is in turn located in the center of force of the tension springs 3 and counteracts their tensile force.
  • the tension springs 3 are attached at their lower ends to three tongues ⁇ . Bend and torsion sensors 36 are arranged on the tongues.
  • the tongues 35 are made of spring steel, which is relatively tough compared to the springs, and are only slightly deformed by the tensile forces of the springs.
  • the sensors 36 are designed such that they can determine not only the amount but also the direction of the respective tensile force F F. The length and direction of the respective tension spring and thus the position of the movable platform 2 can be calculated from this value. Three measurement values are preferably determined, from which the exact direction and magnitude of the tensile force F F can be fully calculated.
  • FIGS. 9 and 10 show an alternative measurement of the spring state of the embodiment according to FIG. 8 on a capacitive basis.
  • the tongues are arranged just above a printed circuit board 50.
  • Two or three measuring electrodes 51 are arranged on the printed circuit board 50 under each tongue 35, the capacitance of which is determined with respect to the respective tongue 35.
  • an insulation ring 52 and a ring-shaped auxiliary electrode 53 are arranged around each measuring electrode 51, the potential of the auxiliary electrode being tracked by the respective measuring electrode in such a way that the field of the measuring electrode becomes as homogeneous as possible.
  • By measuring the capacitance of two measuring electrodes 51 with respect to each tongue 35 its torsion and bending can be determined.
  • a third measuring electrode in position 54 the derivation of the bend and thus the end point of the spring can also be determined. It is also conceivable to only measure the torsion on the fixed platform 1 and to carry out a bend measurement on the movable platform 2.
  • the movable platform 2 has a total of six degrees of freedom. However, this number can also be reduced. 11 shows a device with only five
  • FIG. 12 An embodiment is shown in which the upper platform 2 has only three degrees of freedom compared to the lower platform 1. This is achieved in that the spacer 6c is now firmly connected to the lower platform 1 and only forms a ball joint 8 with the platform 2 at the upper end.
  • this device can also be provided with a further stage.
  • the platform 1 is placed on a base 38, for example, in which a conventional computer mouse that can be moved in two dimensions is integrated.
  • the base 38 rests on a table top 39.
  • the table top 39 can thus be regarded as the third reference part of the device, against which the second reference part can be moved in two dimensions.
  • the coupling between the first and third reference part can also be realized in another way, e.g. ⁇ ass e.g. Movements ⁇ ⁇ rei translatory degrees of freedom are also possible. 13 schematically shows an embodiment
  • the fixed platform 1 is designed, for example, as a basin with a bottom 41 and a cylindrical side wall 42, in which the movable platform 2 is clamped on a total of nine tension springs 43.
  • two tension springs 43 extend from each corner of the movable platform to the upper edge of the side wall 42 and one to the floor 41.
  • the use of nine springs has the advantage that even large deflections can be calculated robustly using a compensation calculation.
  • 14 schematically shows an embodiment of the invention, in which only compression springs 12a are used to connect the fixed platform 1 to the movable platform 2.
  • the deformations of the springs can be determined using the methods mentioned above, so that the movements of the joystick-like handle can be determined at least in two or three degrees of freedom.
  • the degrees of freedom of the handle are preferably mechanically reduced to two DZW. three restricted.
  • the platform 2 is designed as a hollow rialbkuge ⁇ no can be used as a handle.
  • the coupling arrangement between platform 1 and platform 2 comprises a total of nine spiral springs 60, 61.
  • Six horizontally arranged springs 60 are used as measuring elements by determining their inductance in the manner described above.
  • Each ⁇ er horizontal springs 60 is connected at one end to a pin 62 which is firmly anchored in the platform 1. At the other end, it is connected via a flexible connecting link, i. H. a cord or wire 63 with the platform 2 vernun ⁇ en.
  • Each cord or wire 63 is deflected by an eyelet o4 mounted on a plate 1, so that the fibers 60 can run horizontally while the cord DZW. Wires 63 are deflected from the plane ⁇ er springs 60. As a result, there is more space available for the springs 60 and it is also possible to accommodate the springs in a housing (not shown) in order to suppress interference signals.
  • the cords or wires 63 run in the same geometry as the springs 3 of the embodiment according to FIG. 1, so that the relative position of the two platforms 1, 2 can be calculated in a simple and numerically stable manner from the length changes . It is also conceivable to anchor the springs 60 at one end at the points 64 and to connect them to the platform 2 at the other end, so that they take the place of the strings or wires 63. The cords or wires can be omitted and a deflection is no longer necessary.
  • ⁇ rei vertical springs 61 These are anchored in the platform 1 at one end. At the other end, they are each connected to platform 2 by wire or cord 66.
  • the wires or cords 66 are deflected by three eyelets 67.
  • the eyelets are located on the corners of a triangular plate 68, which rests on a column o9.
  • the column 69 is firmly connected to platform 1.
  • the task of parts 61, 66-69 is primarily to take up the weight of platform 2 and to counteract the pulling force of springs 60, i.e. they serve as a spacing element between the two platforms.
  • the arrangement according to FIG. 15 is self-resetting or not. If no automatic reset is desired, the friction losses are chosen to be large. If the loss in direction is small, the platform 2 automatically returns to its rest position after an opening.
  • the deflections and cords or wires 66 can also be omitted in the case of the springs 61, in that the springs are clamped directly between the points 67 and the lower edge of platform 2.
  • Six vertical bars 71 are mounted on the periphery of platform 1.
  • a safety cord 72 is attached to the upper end of each rod 71 and is connected to platform 2. The rod 71 and the cords 72 limit the freedom of movement of platform 2 compared to platform 1.
  • a cylindrical wall instead of the rod 71, which runs along the periphery of platform 1 is arranged.
  • the cords 1 then extend from the upper edge of the cylindrical wall to the lower edge of platform 2.
  • a bellows can also be used, as is illustrated in FIGS. 16 and 17.
  • 80 the cylindrical wall, on the upper edge of which the bellows 81 is fastened.
  • the bellows 81 seals the device upwards. It consists of a ring-shaped, film-like, flexible material, which is dimensioned such that it sags saggingly in the middle position of platform 2.
  • radial ribs 82 are also formed, which are stronger than the rest of the bellows. Read the role of the strings 72 and limit the freedom of movement of the platform 2.
  • the ribs 82 can be firmly incorporated into the bellows or, for example, extend below the bellows.
  • Fig. 18 shows a vertical section through a spring 60, e.g. 15 applies.
  • the platform 1 is designed as a printed circuit board on which the evaluation electronics are arranged.
  • the springs 60 are made of a removable material, preferably beryllium bronze. At their outer ends they go straight. Irantaoscnmtt 85 about. This wire connection 35 leads a hole in one of the pins 62 and from there to a solder point 86 m of the platform 1. Behind the pin 62, the wire section 85 is bent such that the axial tensile force of the spring 60 is absorbed by the pin 62, i.e. the pin serves as anchoring device.
  • solder point 86 which is connected to the evaluation electronics, is free of force.
  • Corresponding anchorages of the springs can also be used in the other embodiments of the invention described here, on one or on both ends of the springs. Generally everyone can do the ones discussed here
  • the device according to the invention can serve as an input element for EDP devices in the manner of a computer mouse.
  • Another application of the device relates to a probe whose deflections due to the contact with an object to be measured allow complete information about the location (position) and orientation of the surface element being touched.
  • the device is used as a computer mouse, two more are preferably provided in addition to the usual keys. These additional buttons can be used to switch the mouse on and off so that the object moved by the mouse does not fall back into centering after releasing the mouse.
  • the device can also serve as a measuring system for the continuous tracking of the movements of a robot, with one platform being attached to the fixed part and the other to the moving part of the robot (e.g. the gripper hand).
  • Another application relates to the control of vehicles, where the vehicle operator can control all possible movements of the vehicle with the device according to the invention instead of the usual, separate control devices (steering wheel, gas and brake pedals, control sticks etc.)
  • the device can also be used to control cranes and robots be used.
  • the movement of the movable platform can also be done with parts of the human body other than with one hand, e.g. with one or both feet.
  • parts of the human body other than with one hand, e.g. with one or both feet.
  • Spring elements metal in particular a solderable, highly conductive material, such as beryllium bronze, are used.
  • elastic elements made of a different material, in particular plastic. While preferred embodiments of the invention are described in the present application, it should be clearly pointed out that the invention is not restricted to these and can also be carried out in other ways within the scope of the following claims.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • A Measuring Device Byusing Mechanical Method (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)

Abstract

Ce dispositif possède une plate-forme fixe (1) et une plate-forme mobile (2), lesquelles sont accouplées par l'intermédiaire de six ressorts de traction (3) et d'un élément d'espacement élastique (6). Ce dernier forme par exemple avec chaque plate-forme une articulation à rotule, de sorte que les plates-formes peuvent se déplacer l'une par rapport à l'autre avec au total cinq ou six degrés de liberté. Ce déplacement est mesuré au niveau des ressorts de traction (3) ou de l'élément d'espacement (6), de préférence par l'intermédiaire d'une mesure de l'inductivité des ressorts de traction (3). Il est ainsi possible de déterminer la position relative des plates-formes de manière simple.
EP97912410A 1996-12-04 1997-12-02 Dispositif de mesure de position pour la determination de deplacements avec au moins trois degres de liberte Withdrawn EP0941507A1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
CH298396 1996-12-04
CH298396 1996-12-04
PCT/IB1997/001498 WO1998025193A1 (fr) 1996-12-04 1997-12-02 Dispositif de mesure de position pour la determination de deplacements avec au moins trois degres de liberte

Publications (1)

Publication Number Publication Date
EP0941507A1 true EP0941507A1 (fr) 1999-09-15

Family

ID=4246029

Family Applications (1)

Application Number Title Priority Date Filing Date
EP97912410A Withdrawn EP0941507A1 (fr) 1996-12-04 1997-12-02 Dispositif de mesure de position pour la determination de deplacements avec au moins trois degres de liberte

Country Status (6)

Country Link
US (2) US6329812B1 (fr)
EP (1) EP0941507A1 (fr)
JP (1) JP4587498B2 (fr)
AU (1) AU4962997A (fr)
CA (1) CA2274049A1 (fr)
WO (1) WO1998025193A1 (fr)

Families Citing this family (37)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0941507A1 (fr) * 1996-12-04 1999-09-15 Martin Sundin Dispositif de mesure de position pour la determination de deplacements avec au moins trois degres de liberte
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US20010045825A1 (en) 2001-11-29
US6329812B1 (en) 2001-12-11
AU4962997A (en) 1998-06-29
JP2001505334A (ja) 2001-04-17
JP4587498B2 (ja) 2010-11-24
US6593729B2 (en) 2003-07-15
WO1998025193A1 (fr) 1998-06-11
CA2274049A1 (fr) 1998-06-11

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