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

Authors

  • Yoon-Gu Kim Daegu Gyeongbuk Institute of Science & Technology
  • Jeong-Hwan Kwak Daegu Gyeongbuk Institute of Science & Technology
  • Dae-Han Hong Daegu Gyeongbuk Institute of Science & Technology
  • Jinung An Daegu Gyeongbuk Institute of Science & Technology

DOI:

https://doi.org/10.5755/j01.eee.20.6.7258

Keywords:

Force-torque sensor, packaging line, robot end-effector, semiconductor strain gauge

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.

DOI: http://dx.doi.org/10.5755/j01.eee.20.6.7258

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Published

2014-06-09

How to Cite

Kim, Y.-G., Kwak, J.-H., Hong, D.-H., & An, J. (2014). Miniaturized Force-Torque Sensor Built in a Robot End-Effector for Delicate Tool-Tip Gripping Control. Elektronika Ir Elektrotechnika, 20(6), 3-7. https://doi.org/10.5755/j01.eee.20.6.7258

Issue

Vol. 20 No. 6 (2014)

Section

AUTOMATION, ROBOTICS

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