Abstract
Force measurement systems are common components of automated handling systems. They are usually implemented in terms of additional modules and therefore, increase the mass of the endeffector. In this paper, a new gripper finger design is developed and implemented that allows the direct, cost-effective and easy integration of force sensors into the gripper finger. Three strain gauge based force sensors are integrated in each finger of an electrically actuated parallel gripper. They allow measurement close to the contact point with small offsets. Experimental investigations with a prototype showed good measuring accuracy and decreased mass of the endeffector compared to conventional systems.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Santochi, M., Dini, G. (1998): Sensor Technology in Assembly Systems, in Annals of the CIRP, Vol. 47, No. 2, pp. 503-524.
Kim, G.-S. (2007): Design of a six-axis wrist force/moment sensor using FEM and its fabrication for an intelligent robot, in: Sensors and Actuators A, Vol. 133, pp. 27–34.
Kim, G.-B., Shin, H.-J., Yoon, J. (2008): Development of 6- axis force/moment sensor for a humanoid robot’s intelligent foot, in: Sensors and Actuators A, Vol. 141, pp. 276-281.
Liang, Q., Zhang, D., Song, Q., Ge, Y., Cao, H., Ge, Y. (2010): Design and fabrication of a six-dimensional wrist force/torque sensor based on E-type membranes compared to cross beams, in: Measurement, Vol. 43, No., 10, pp. 1702-1719.
Jacq, C., Lüthi, B., Maeder, T., Lambercy, O., Gassert, R., Ryser, P. (2010): Thick-film multi-DOF force/torque sensor for wrist rehabilitation, in: Sensors and Actuators A, Vol. 162, pp. 361–366.
Song, A., Juan, W., Gang, Q., Weiyi, H. (2007): A novel selfdecoupled four degree-of-freedom wrist force/torque sensor, in: Measurement, Vol. 40, pp. 883–891.
Kim, G.-S. (2007):Development of a three-axis gripper force sensor and the intelligent gripper using it, in: Sensors and Actuators A, Vol. 137, pp. 213–222.
Zhu, M. (2010): A Three-Axis Finger Force Sensor Using Single-layer and Disc-Shaped Sensitive Plate, in: 2010 International Conference on Measuring Technology and Mechatronics Automation (ICMTMA), pp. 373–376, Changsha, China.
Li, Y.-J., Sun, B.-Y., Zhang, J., Qian, M., Jia, Z.-Y. (2009): A novel parallel piezoelectric six-axis heavy force/torque sensor, in: Measurement, Vol. 42, No. 5, pp. 730-736.
Li, Y.-J., Zhang, J., Jia, Z.-Y., Qian, M., Li, H. (2009): Research on force-sensing element’s spatial arrangement of piezoelectric six-component force/torque sensor, in: Mechanical Systems and Signal Processing, Vol. 23, No. 8, pp. 2687-2698.
Liu, W., Li, Y.-J., Jia, Z.-Y., Zhang, J., Qian, M. (2011): Research on parallel load sharing principle of piezoelectric six-dimensional heavy force/torque sensor, in: Mechanical Systems and Signal Processing, Vol. 25, No. 1, pp. 331-343.
Fahlbusch, S (2008): Development of integrable micro force sensors for the robot based micro and nano handling, PhD thesis, Faculty II – School of Computing Science, Business Administration, Economics, and Law, Carl von Ossietzky University of Oldenburg, 195 pages (in German). Entwicklung integrierbarer Mikrokraftsensoren für die roboterbasierte Mikro- und Nanohandhabung. Dissertation, Fakultät II – Informatik, Wirtschafts- und Rechtswissenschaften Carl von Ossietzky Universität Oldenburg, 195 Seiten.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2012 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Tracht, K., Hogreve, S., Borchers, F. (2012). Gripper with Integrated Three-Dimensional Force Detection. In: ElMaraghy, H. (eds) Enabling Manufacturing Competitiveness and Economic Sustainability. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-23860-4_60
Download citation
DOI: https://doi.org/10.1007/978-3-642-23860-4_60
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-23859-8
Online ISBN: 978-3-642-23860-4
eBook Packages: EngineeringEngineering (R0)