Slip Sensor Research Articles

An intelligent end-effector for a rehabilitation robot.

A UMI RTX robot, modified with limited end-effector sensors and a restricted but effective vision system, is currently used in a developmental education setting for severely physically disabled children. The low physical and cognitive abilities of the children involved in the project require a semi-autonomous robot with environmental sensing capability to operate in a task oriented mode. A variety of low-cost sensors including proximity, distance, force and slip sensors, have been investigated for integration in end-effectors for the RTX robot. The sensors employed on a modified end-effector are detailed and experimental results are presented. A design for an end-effector with integrated sensors is discussed. The integration of the sensor information into a high-level, task-oriented programming language is detailed and examples of high-level control sequences using sensor inputs are presented. Finally, the development of intelligent gripping strategies based on sensor information is discussed.

Non-tactile slip sensor using the method of autocorrelation with signals of reflected light

The problem of slip detection has to be explored so that an industrial robot can grasp objects with the minimum grasping force. The method of non-tactile slip detection is described in this paper. The intensity of the light reflected from the surface of an object at the position of fringes of the phenomenon of two-beam interference is converted into digital data by using a photo-transistor and an A/D converter. A micro-computer can detect slip by calculating the autocorrelation with the digital data converted from the light intensity. The fringe on the object is made from a lens and two laser beams which are produced from a single beam by a grating.

A servo‐controlled robot gripper with multiple sensors and its logical specification

AbstractThe logical specification of a microprocessor‐based air‐servo‐controlled robot hand is presented, as well as its actual implementation. This hand can accommodate a wide variety of workpieces and allows for flexible assembly through the use of an automatic quick‐change fingertip. The changeable set of gripper fingers is equipped with sensors, including a tactile force sensor, a crossfire sensor, a proximity sensor, and a slip sensor. A changeable set of gripper fingers with different sensing ranges can cope with certain subranges of the workpiece spectrum. A considerable cost saving is achieved by not changing the gripper itself. This specially designed hardware and software system includes position and force feedback. A PUMA 560 is used to test the success of the entire process.

The application of servo-pneumatic drives for flexible mechanical handling techniques

The present article describes the possibilities of pneumatic drives for fast analog valves and intelligent control system applications. Firstly, the necessary components - valves and actuators - are described. In particular rodless cylinders and optimized motors are discussed. Then design and performance of servo-pneumatic cylinder and rotational drives are presented by means of examples tested under practical service conditions. This shows that the combination of servo-pneumatic components and intelligent microelectronic controllers leads to an up to now unknown system behaviour in the field of pneumatics. Finally, practical examples of the field of robotics are introduced, comprising multi-axle robots built up from individual CNC axles. Moreover, an intelligent gripper with integrated slip sensors is described. As a whole, the great opportunities offered by the application of servo-pneumatics are presented.

Slip sensor of industrial robot and its application

Slip sensor of industrial robot and its application

Slip Sensor for Industrial Robot and its Application

Slip Sensor for Industrial Robot and its Application