Development of the 6-axis force/moment sensor for an intelligent robot's gripper

被引：52

作者：

Park, JJ ^{[1
]}

Kim, GS ^{[1
]}

机构：

[1] Gyeongsang Natl Univ, ERI, Dept Control & Instrumentat Engn, Kyungnam 660701, South Korea

来源：

SENSORS AND ACTUATORS A-PHYSICAL | 2005年 / 118卷 / 01期

关键词：

6-axis force/moment sensor; intelligent robot's gripper; parallel-plate beam; rated strain; interference error; rated output;

D O I：

10.1016/j.sna.2004.07.013

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This paper describes the development of the 6-axis force/moment sensor for an intelligent robot's gripper. The intelligent robot's gripper should detect the forces Fx (x-direction force), Fy and Fz in the gripping direction and in the gravitational direction to safely grasp an unknown object. Also, it should detect the moments Mx (x-direction moment), My and Mz to accurately perceive the position of the object in the grippers. Therefore, the intelligent robot's gripper should be composed of the 6-axis force/moment sensor which can measure the forces Fx, Fy and Fz, and the moments Mx, My and Mz, simultaneously. But the grippers are mostly made with a force sensor that may detect only one-direction force. In this paper, the 6-axis force/moment sensor to make the intelligent robot's gripper is newly modeled using parallel-plate beams (PPBs), designed and fabricated. (C) 2004 Elsevier B.V. All rights reserved.

引用

页码：127 / 134

页数：8

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