Analysis of 4-dof force/torque sensor for intelligent gripper

Abstract

This paper describes the development of a six-axis gripper force sensor that measure forces f_x,f_y and f_zand M_x,M_y and M_z simultaneously, and the intelligent gripper will be using the six-axis sensor for grasping or holding any object with the force calculated. To grasp any object of unknown dimensions and weight by using an intelligent gripper safely the forces are to be calculated along the gripping direction and gravitational direction, and perform the force control with the measured forces. Thus, the intelligent gripper should be composed of six-axis gripper force sensor that measure forces f_x,f_y and f_z and M_x,M_y and M_zat the same time. In this paper, a six-axis gripper force sensor for measuring forces f_x,f_y and f_zand M_x,M_y and M_z simultaneously were newly modeled using 16 strain gauges. The structure of a six-axis wrist force/moment sensor was modeled for an intelligent hand in robot newly. And the sensing elements of it were designed by using FEM design system ANSYS. All along the way the stress points are found out where max. And min. stresses are applicable and the design of sensor is done so.