Development of the 6-axis force/moment sensor for an intelligent robot's gripper

摘要: Abstract This paper describes the development of 6-axis force/moment sensor for an intelligent robot's gripper. The gripper should detect forces Fx (x-direction force), Fy and Fz in gripping direction gravitational to safely grasp unknown object. Also, it moments Mx moment), My Mz accurately perceive position object grippers. Therefore, be composed which can measure Fx, Fz, Mx, Mz, simultaneously. But grippers are mostly made with a force that may only one-direction force. In this paper, make is newly modeled using parallel-plate beams (PPBs), designed fabricated.