그리퍼 내에서 물체의 위치를 인지하기 위한 그리퍼의 5축 힘/모멘트센서 개발

Abstract

In this paper, we describe the development of a 5-axis force/moment sensor of an intelligent gripper designed to grasp the weight of an unknown object and the position of the object in the gripper. The 5-axis force/moment sensor consists of an Fx force sensor, Fy force sensor, and Fz force sensor to measure weight, along with an Mx moment sensor and Mz moment sensor to determine the position of an object in the gripper. These sensors are all built within a single body. Each sensor sensing part of the 5-axis force/moment sensor was newly modeled and custom designed using software, and each sensor was manufactured by attaching a strain gauge. The results of the characteristic test of the fabricated 5-axis force/moment sensor showed that the rated output error was within 0.1%, the reproducibility error was within 0.05%, and the nonlinearity error was within 0.04%. Therefore, the 5-axis force/moment sensor developed in this paper can be attached to an intelligent gripper and be used to grasp the weight of an unknown object as well as the position of the object in the gripper.