Design and Analysis of Force/Moment Sensor for a Robot

6 pages•Published: August 5, 2017

Kenal Tandel, Haresh Patolia and Dr. Vinay Patel

Abstract

To safely hold an unidentified object by means of an intelligent hand of robot, the hand has to recognize the weight of it. By attaching six-axis Force/Torque (F/T or Force/Moment) sensor to an intelligent robot’s hand the weight can be calculated by measuring forces Fx, Fy and Fz. Forces should be measured in order to precisely pull and push an object. To securely grasp an unidentified object with an intelligent robot’s gripper, the forces in the gripping direction and in the gravitational direction needs to be detected, but it also requires to perceive the moments to accurately recognize the position of the object in the grippers. A robot joint can be controlled in better way if three forces and three moments exerted at the joint are measured. The available Force/Torque sensors are bulky, not customized and costly. Therefore, it is essential to customize and develop low cost six axis Force/Torque sensor with new appropriate dimensions for an intelligent robot’s joints. Six axis Force/Torque sensor is designed using strain gauge. The strain gauges are selected for Aluminium and its working conditions. The sensor design is based on results of parametric analysis done in ANSYS software to obtain the strain values in the measurable range. The analytical results are compared with Finite Element Analysis (ANSYS) results. The percentage error in deviation is 0.75% maximum.

Keyphrases: force measurement, force/torque sensor, gripper, intelligent robot, sensor

In: Ajitkumar Shukla, J. M. Patel, P. D. Solanki, K. B. Judal, R. K. Shukla, R. A. Thakkar, N. P. Gajjar, N. J. Kothari, Sukanta Saha, S. K. Joshi, Sanjay R. Joshi, Pranav Darji, Sanjay Dambhare, Bhupendra R. Parekh, P. M. George, Amit M. Trivedi, T. D. Pawar, Mehul B. Shah, Vinay J. Patel, Mehfuza S. Holia, Rashesh P. Mehta, Jagdish M. Rathod, Bhargav C. Goradiya and Dharita K. Patel (editors). ICRISET2017. International Conference on Research and Innovations in Science, Engineering and Technology. Selected Papers in Engineering, vol 1, pages 60-65.

Links:	https://easychair.org/publications/paper/pgX
	https://doi.org/10.29007/x5j9

BibTeX entry

@inproceedings{ICRISET2017:Design_Analysis_Force/Moment_Sensor,
  author    = {Kenal Tandel and Haresh Patolia and Dr. Vinay Patel},
  title     = {Design and Analysis of Force/Moment Sensor for a Robot},
  booktitle = {ICRISET2017. International Conference on Research and Innovations in  Science, Engineering and Technology. Selected Papers in Engineering},
  editor    = {Ajitkumar Shukla and J. M. Patel and P. D. Solanki and K. B. Judal and R. K. Shukla and R. A. Thakkar and N. P. Gajjar and N. J. Kothari and Sukanta Saha and S. K. Joshi and Sanjay R. Joshi and Pranav Darji and Sanjay Dambhare and Bhupendra R. Parekh and P. M. George and Amit M. Trivedi and T. D. Pawar and Mehul B. Shah and Vinay J. Patel and Mehfuza S. Holia and Rashesh P. Mehta and Jagdish M. Rathod and Bhargav C. Goradiya and Dharita K. Patel},
  series    = {Kalpa Publications in Engineering},
  volume    = {1},
  publisher = {EasyChair},
  bibsource = {EasyChair, https://easychair.org},
  issn      = {2515-1770},
  url       = {/publications/paper/pgX},
  doi       = {10.29007/x5j9},
  pages     = {60-65},
  year      = {2017}}

Download PDF Open PDF in browser