Commissariat a L'energie Atomique

Etienne Csakvary

Jean-Paul Noel

Bertrand De Cosnac

Mayez Al Mouhamed

Andre Pascal

A measured-force gripper device of articulated structure having several degrees of freedom and interposed between the contact plate and its support, the device comprising two fingers which can be displaced to grasp an article to be handled, each finger being formed by a support, a contact plate which contacts the article to be handled, an articulated structure, which has several degrees of freedom and is interposed between the contact plate and the support, and a displacement-measuring pickup associated with each of the degrees of freedom of each finger, the pickup delivering information related exclusively to the movements carried out in accordance with that degree of freedom.

Measured-force gripper device of articulated structure having several

A line body portion is subjected to a beam z or parallel beams of electromagnetic radiation having transverse dimensions which are smaller than those of the body portion. The beam is displaced in space in order to sweep the entire volume of the body portion and the attenuation resulting from the passage of the beam through the body is measured in respect of each position of the beam. The mass of the unitary volume of the body portion traversed by the beam is deduced from the measurement, the total mass thereof and the position of its center of gravity being then calculated from a knowledge of the mass of each unitary volume.

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Maurepas, France

Etienne Csakvary