D. Roy
Sensor, robot gripper, tactile, design, array, resistive, capacitive, compliance
Sensor-based measurement of tangential force and slippage is essential for the control of robotic gripper in operation. Design and development of such a multi-sensory tactile array sensor is addressed in this paper, aimed for direct use in an instrumented jaw intelligent robot gripper for potentially hazardous radioactive environments. A new design has been reported, wherein sensing members follow a combination of beam (bending) and truss-type (axial deformation) behaviour under external loadings. Structural isotropy of the sensor was estimated through condition number, as well as static and dynamic stiffness, based on the field results. A miniaturized version of the sensor was also developed and tested for object grasping in real time.
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