Abstract
Compliance devices facilitate robotic assemblies by preventing excessive contact force on automated devices. However, the unavailability of displacement information regarding compliance devices makes it difficult to protect robots and objects during robotic assembly. It also limits repeatability and efficiency, especially regarding peg-in-hole and similar operations. We propose a six-axis displacement sensor installed on a remote center compliance device to detect the three translation and three rotation components generated by external forces and torques applied to the device, respectively. Triangular prism-shaped structures are used with capacitive sensing technology to measure the vertical and horizontal displacements in mm scale generated by the external normal and shear forces applied to the sensor. We designed and fabricated the sensor that could be integrated into a remote center compliance device, demonstrating it has a simple structure and is easy to install. To obtain six-axis force/torque information and six-axis displacement, calibration experiments were conducted using a specific setup and considering the device's geometry. The high sensing performance was verified through complementary experiments.
Highlights
Manipulators used for robotic assemblies require high performance in terms of their precision, repeatability, and speed, among other characteristics [1], [2]
We propose a novel six-axis displacement sensor that can be integrated into an Remote center compliance (RCC) device, based on sensing technology
DISCUSSIONS AND CONCLUSIONS Here, we developed a six-axis displacement sensor integrated into an RCC device
Summary
Manipulators used for robotic assemblies require high performance in terms of their precision, repeatability, and speed, among other characteristics [1], [2]. Inexpensive sensors are needed for RCC devices, such as F/T sensors that use light and capacitance measurements and provide six-axis F/T sensing with a simple, assembled structure [6], [14]–[17]. A capacitive two-axis force sensor has been developed that uses a triangular prism structure to measure vertical and horizontal forces [19]. Through theoretical analysis of the relationship between displacement and capacitance, we designed triangular prism structures to measure the vertical and horizontal displacements generated by the external normal and shear forces applied to the sensor, obtaining a six-axis displacement sensor with six-axis F/T sensing ability and a simple structure. The four wires from the sensor are dedicated to the interface and power source (5 V) of the sensor
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