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Miniaturized Force-Torque Sensor Built in a Robot End-Effector for Delicate Tool-Tip Gripping Control

Title
Miniaturized Force-Torque Sensor Built in a Robot End-Effector for Delicate Tool-Tip Gripping Control
Authors
Kim, YG[Kim, Yoon-Gu]Kwak, JH[Kwak, Jeong-Hwan]Hong, DH[Hong, Dae-Han]An, J[An, Jinung]
DGIST Authors
Kim, YG[Kim, Yoon-Gu]; Kwak, JH[Kwak, Jeong-Hwan]; Hong, DH[Hong, Dae-Han]; An, J[An, Jinung]
Issue Date
2014
Citation
Elektronika Ir Elektrotechnika, 20(6), 3-7
Type
Article
Article Type
Article
Keywords
Force-Torque SensorPackaging LineRobot End-EffectorSemiconductor Strain Gauge
ISSN
1392-1215
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.
URI
http://hdl.handle.net/20.500.11750/1684
DOI
10.5755/j01.eee.20.6.7258
Publisher
Kauno Technologijos Universitetas
Related Researcher
Files:
There are no files associated with this item.
Collection:
Division of IoT∙Robotics Convergence Research1. Journal Articles


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