Design of Robot Hand-Based Intelligent Sensor for Measuring Six DOF Force/Torque Information

Ren C. Luo; Michael J. Chen

doi:10.1117/12.966252

19 December 1985 Design of Robot Hand-Based Intelligent Sensor for Measuring Six DOF Force/Torque Information

Ren C. Luo, Michael J. Chen

Proceedings Volume 0557, Automatic Inspection and Measurement; (1985) https://doi.org/10.1117/12.966252
Event: 29th Annual Technical Symposium, 1985, San Diego, United States

Abstract

The objective of this paper is to describe the design of a pair of sophisticated robot fingers which enable to sense three axis of forces and three axis of torques information using piezo-resistive strain gauges as sensing elements with frequency output. The fingers may be mounted onto a servo controlled robot gripper and interfaced with robot controller to serve as active compliance device for small parts assembly tasks. This newly direct force/torque sensor with frequency output employing RC oscillation principle has demonstrated great advantages with signal conditioning and processing relative to the conventional voltage output procedures. A description of the test results is also presented.

Citation Download Citation

Ren C. Luo and Michael J. Chen "Design of Robot Hand-Based Intelligent Sensor for Measuring Six DOF Force/Torque Information", Proc. SPIE 0557, Automatic Inspection and Measurement, (19 December 1985); https://doi.org/10.1117/12.966252

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