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dc.contributor.author Kim, YG[Kim, Yoon-Gu] ko
dc.contributor.author Kwak, JH[Kwak, Jeong-Hwan] ko
dc.contributor.author Hong, DH[Hong, Dae-Han] ko
dc.contributor.author An, J[An, Jinung] ko
dc.date.available 2017-05-11T01:55:08Z -
dc.date.created 2017-04-10 -
dc.date.issued 2014 -
dc.identifier.citation Elektronika Ir Elektrotechnika, v.20, no.6, pp.3 - 7 -
dc.identifier.issn 1392-1215 -
dc.identifier.uri http://hdl.handle.net/20.500.11750/1684 -
dc.description.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. -
dc.publisher Kauno Technologijos Universitetas -
dc.subject Force-Torque Sensor -
dc.subject Packaging Line -
dc.subject Robot End-Effector -
dc.subject Semiconductor Strain Gauge -
dc.title Miniaturized Force-Torque Sensor Built in a Robot End-Effector for Delicate Tool-Tip Gripping Control -
dc.type Article -
dc.identifier.doi 10.5755/j01.eee.20.6.7258 -
dc.identifier.wosid 000340682600001 -
dc.identifier.scopusid 2-s2.0-84902484318 -
dc.type.local Article(Overseas) -
dc.type.rims ART -
dc.description.journalClass 1 -
dc.identifier.citationVolume 20 -
dc.identifier.citationNumber 6 -
dc.identifier.citationStartPage 3 -
dc.identifier.citationEndPage 7 -
dc.identifier.citationTitle Elektronika Ir Elektrotechnika -
dc.type.journalArticle Article -
dc.contributor.affiliatedAuthor Kim, YG[Kim, Yoon-Gu] -
dc.contributor.affiliatedAuthor Kwak, JH[Kwak, Jeong-Hwan] -
dc.contributor.affiliatedAuthor Hong, DH[Hong, Dae-Han] -
dc.contributor.affiliatedAuthor An, J[An, Jinung] -
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Appears in Collections:
ETC 1. Journal Articles
Division of Intelligent Robotics Brain Robot Augmented InteractioN(BRAIN) Laboratory 1. Journal Articles

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