A design methodology of wrist force sensor for a robot insufficient degree of freedom

Proceedings of IEEE Sensors 2003 (IEEE Cat. No.03CH37498) Pub Date : 2003-10-22 DOI:10.1109/ICSENS.2003.1279004

R. Nagarajan, S. Yaacob, M. Muralindran

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引用次数: 6

Abstract

The usage of robots in industry is expanding very fast. Different industrial applications require different size of robots and degree of freedom (dof) especially in the new trend of flexible manufacturing system when robots deal with multiple products manufacturing and varied complex tasks. There is significant difference in price of a robot of same type having different dof. The improvement in the degree of freedom allows the robot to expand its sphere of applications. Such an effort is laid in this paper where, the capability of a robot with an insufficient degree of freedom is improved by adding an additional arm and utilizing the robot for tactile sensing and surface exploration. A robotic wrist force sensor (wfs) is designed and developed for this purpose. In this paper the methodologies of wfs design by mathematical modeling, mechanical design and fabrication of the wfs are discussed. The wfs design is a modified Maltese cross sensor used on the 4 axis articulated Fanuc Robot LR-Mate 100i. An additional arm is created to overcome the limitation of the four dof of the Fanuc LR Mate Robot thus allowing more flexible usage of the robot wfs. A roller probe is also employed for probing and exploration of unknown surface.

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针对不充分自由度的机器人，提出了一种腕部力传感器的设计方法

机器人在工业上的应用正在迅速扩大。不同的工业应用需要不同的机器人尺寸和自由度，特别是在柔性制造系统的新趋势下，机器人需要处理多种产品制造和各种复杂任务。同一型号不同自由度的机器人价格差异显著。自由度的提高使机器人的应用范围得以扩大。在本文中，通过增加额外的手臂并利用机器人进行触觉传感和表面探索，提高了自由度不足的机器人的能力。为此，设计并研制了机器人腕力传感器(wfs)。本文从数学建模、机械设计和制造等方面讨论了水射流系统的设计方法。wfs设计是一种改进的马耳他交叉传感器，用于4轴铰接式发那科机器人LR-Mate 100i。为了克服发那科LR Mate机器人四自由度的限制，设计了一个额外的手臂，从而允许更灵活地使用机器人wfs。采用滚轮探头对未知表面进行探测和探测。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Proceedings of IEEE Sensors 2003 (IEEE Cat. No.03CH37498)

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