Nothing Special   »   [go: up one dir, main page]

Kim et al., 2017 - Google Patents

Design of a miniature 6-axis force/torque sensor for robotic applications

Kim et al., 2017

Document ID
9393591300928608334
Author
Kim U
Kim Y
So J
Choi H
Publication year
Publication venue
2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

External Links

Snippet

A 6-axis force/torque (F/T) information is important to improve the performance of robotic applications. This paper presents a novel design of 6-axis F/T sensor that provides much simple configuration and easy fabrication/assembly processes. To use the space of the …
Continue reading at ieeexplore.ieee.org (other versions)

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, e.g. due to impact, work, mechanical power, or torque, adapted for special purposes
    • G01L5/16—Apparatus for, or methods of, measuring force, e.g. due to impact, work, mechanical power, or torque, adapted for special purposes for measuring several components of force
    • G01L5/161—Apparatus for, or methods of, measuring force, e.g. due to impact, work, mechanical power, or torque, adapted for special purposes for measuring several components of force using variations in ohmic resistance
    • G01L5/162—Apparatus for, or methods of, measuring force, e.g. due to impact, work, mechanical power, or torque, adapted for special purposes for measuring several components of force using variations in ohmic resistance of piezoresistors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L1/00—Measuring force or stress in general
    • G01L1/20—Measuring force or stress in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electro-kinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
    • G01L1/22—Measuring force or stress in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electro-kinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/081—Touching devices, e.g. pressure-sensitive
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L1/00—Measuring force or stress in general
    • G01L1/14—Measuring force or stress in general by measuring variations in capacitance or inductance of electrical elements, e.g. by measuring variations of frequency of electrical oscillators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B25J19/063—Safety devices working only upon contact with an outside object

Similar Documents

Publication Publication Date Title
Kim et al. A novel six-axis force/torque sensor for robotic applications
Almassri et al. Pressure sensor: State of the art, design, and application for robotic hand
JP6476730B2 (en) Force detection device and robot
Kim et al. Six-axis force/torque fingertip sensor for an anthropomorphic robot hand
KR102183179B1 (en) Multi-axis force-torque sensor using straingauges
Ji et al. Three-dimensional skin-type triboelectric nanogenerator for detection of two-axis robotic-arm collision
Fu et al. A polyetheretherketone six-axis force/torque sensor
CN107314852A (en) A kind of wrist sensor
Liang et al. Design and analysis of a novel six-component F/T sensor based on CPM for passive compliant assembly
Kim et al. Design of a miniature 6-axis force/torque sensor for robotic applications
Kim et al. High stiffness capacitive type torque sensor with flexure structure for cooperative industrial robots
Kim et al. Displacement sensor integrated into a remote center compliance device for a robotic assembly
JP2014196922A (en) Force detection device, robot, electronic component transport device, electronic component inspection device, component processing device, and moving body
Huang et al. A piezoelectric bimorph micro-gripper with micro-force sensing
Park et al. Three-Axis Flat and Lightweight Force/Torque Sensor for Enhancing Kinesthetic Sensing Capability of Robotic Hand
Liang et al. PM based multi-component F/T sensors—State of the art and trends
CN1220037C (en) Miniature all-plane 6D force and moment sensor
US11073434B2 (en) Manufacturing method for shear and normal force sensor
Kim et al. A novel capacitive type torque sensor for robotic applications
Hogreve et al. Design and implementation of multiaxial force sensing gripper fingers
Fernandez et al. Slip detection in robotic hands with flexible parts
Liang et al. Miniature robust five-dimensional fingertip force/torque sensor with high performance
JP6232942B2 (en) Force detection device, robot, and electronic component transfer device
Zug et al. Optimized configuration of a tactile sensor system for flexible grippers
Jawale et al. Design and analysis of three-axis cantilever type force sensor