Abstract
A robot end-effector or gripper must have the capability to endure both the weight and acceleration of the object in spite of its frequent movement while a robot uses the gripper to handle various objects and assists the tasks of a person. In this regard, it is essential to directly measure the amounts of gripping force and torque applied to the object by the gripper. This work presents the design and development of a miniaturized force-torque (FT) sensor built inside the gripper with a thickness similar to that of the human finger. It enables efficient use of the FT sensor for delicate tool-tip gripping control of the gripper in the packaging line of electrical devices such as mobile phones. The FT sensor is optimized for acquiring the 3-DoF force-torque information of a single-axis gripping tool. The performance of the FT sensor has been verified through characterization experiments and integrated tests on the gripper. DOI: http://dx.doi.org/10.5755/j01.eee.20.6.7258
Highlights
A robot end-effector is a device at the end of a robot arm or a manipulator that is used for a robot to handle various objects and to assist the tasks of a person
The raw signals are converted into 3-DoF force-torque (Fz, Tz, and Tx) through the following processes: analog-to-digital conversion (ADC), digital filtering, and decoupling matrix
The data acquisition (DAQ) board for signal acquisition from the strain gauges of the FT sensor has been implemented by configuring the signal processing board in the FT sensor and accessing the conformity of its components
Summary
A robot end-effector is a device at the end of a robot arm or a manipulator that is used for a robot to handle various objects and to assist the tasks of a person. The robot end-effector or gripper must have the capability to endure both the weight and acceleration of the object in spite of its frequent movement. Force-torque (FT) sensors, which measure the multi-axial force-torque, are used to control the force-torque of the joints and end-effectors in robots [1]–[3]. In many branches of industry, delicate tasks that are generally handled by humans are left to the robots, in order to achieve higher levels of automation and productivity. It has become more important for FT sensors to be embedded in the joints and end-effectors to enable the robots to deliver precision in delicate human tasks
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