Micro force sensor using strain gauge for articulated robot hand

Author

Kuribayashi, Katsutoshi ; Oe, Norisada ; Shimizu, Seiji ; Taniguchi, Takao

Author_Institution

Fac. of Eng., Yamaguchi Univ., Ube, Japan

fYear

1993

fDate

15-19 Nov 1993

Firstpage

1748

Abstract

Micro sized sensors are necessary for sensing the force on a robot finger for its skillful works. Because the sensor should be mounted in its narrow space, the top link of a finger itself is used as a structure of the sensor to detect the force by attaching strain gauges on it. The link is L-shaped for detecting 3 dimensional forces and its position on the surface of the top of a finger. Strain gauges were glued on the L shape link at its 6 positions to detect the bending moments of the link. The experimental results to detect 3 components of a force unknown showed the accuracy with 3% error. The design method, sensing theory and experimental study are reported

Keywords

force measurement; manipulators; micromechanical devices; strain gauges; tactile sensors; L-shaped link; articulated robot hand; bending moments detection; micro force sensor; strain gauge; Capacitive sensors; Design methodology; Equations; Fingers; Force sensors; Joining processes; Orbital robotics; Robot sensing systems; Shape; Stress;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, Control, and Instrumentation, 1993. Proceedings of the IECON '93., International Conference on

Conference_Location

Maui, HI

Print_ISBN

0-7803-0891-3

Type

conf

DOI

10.1109/IECON.1993.339338

Filename

339338