A Force-Controlled Gripper Capable of Measuring Mechanical Properties of an Object
Journal
Proceedings - IEEE International Conference on Robotics and Automation
Start Page
1929
End Page
1935
ISSN
10504729
ISBN (of the container)
9780818634529
9781728173955
0818634529
0818627204
9781479969234
0780365763
9780780389144
9781538660263
078034300X
9781612843865
Date Issued
2024
Author(s)
Abstract
Various sensorized grippers have been developed to handle delicate objects safely. These grippers have sensors mounted on their fingers' surface that provide direct force measurements. However, multiple sensors are often required on one finger, leading to significant sensor placement and wire routing complexity. Finger-based sensors are limited to sensing external gripping force, and fingers cannot be easily replaced to meet the requirements of objects with specific geometries. To overcome the complexity and limitations of finger surface sensors, this paper proposes a force-controlled two-fingered gripper that relies on the deformation sensing of elastic elements in the drivetrain to obtain finger force. By using a minimum number of optical encoders placed in the drivetrain, accurate position and force sensing can be achieved at any location of each finger. When gripping an object, the size and stiffness of the object can thus be accurately measured. Simulation and experimental results demonstrate the proposed gripper's merits. We expect this new gripper to provide a more competitive solution for robots that need to manipulate objects and check their mechanical qualities at the same time.
Event(s)
2024 IEEE International Conference on Robotics and Automation, ICRA 2024
Subjects
Force-controlled Gripper
Object Size And Stiffness
Optical Encoder
Planar Spring
Repeatability
Robot Programming
Stress Analysis
Direct Force Measurements
Force-controled Gripper
Mechanical
Multiple Sensors
Object Size
Object Size And Stiffness
Optical Encoder
Planar Spring
Property
Repeatability
Grippers
Publisher
Institute of Electrical and Electronics Engineers Inc.
Description
2024 IEEE International Conference on Robotics and Automation, ICRA 2024. Yokohama; Pacific Convention Plaza Yokohama (PACIFICO Yokohama). conference code:201702
Type
conference paper