Force and moment measurement on a robotic assembly hand

✍ Scribed by A. Romiti; M. Sorli

• Publisher: Elsevier Science
• Year: 1992
• Tongue: English
• Weight: 794 KB
• Volume: 32
• Category: Article
• ISSN: 0924-4247
• DOI: 10.1016/0924-4247(92)80039-6

✦ Synopsis

In investigating active robot assembly, it is first necessary to solve the problem of measuring forces and moments on a gripper during insertion. In a previous study, we designed and built a robot wrist with six independent degrees of freedom and a parallel architecture which actuates gripper micromotion for error compensation purposes. The device presented here for measuring forces and moments should be readily applicable in industrial environments.

Many different structural configurations have been examined, while levels of cross-correlation among the values measured by sensors vary according to the sensor arrangement, e.g., whether sensors are arranged along three orthogonal directions, on a plane and its perpendiculars, or in a Stewart platform configuration. The latter two cases are accurately analysed. Theoretical results are examined using six force sensors of a given measurement range ( k50 N). Results in diagram form show hypervolumes of maximum normalized forces on each axis.