A sensorized gripper, capable of providing the robot controller with force feedback signals and with information on the position of the grasped object relative to the jaws, is likely to be a fundamental component of the future generations of assembly robotic systems. This paper describes the design, fabrication, and preliminary testing of a tactile sensing array which is the core of a gripper intended for industrial applications. The tactile sensor, consisting of a matrix of 128 sensing elements, is based on the technology of the piezoelectric polymer pvf2. The system comprises a purposely developed electronic unit designed to scan and amplify the signals generated by the tactile matrix. Preliminary experiments demonstrate the ability of the sensorized gripper system to detect binary tactile images of several different objects. © 1988.
A sensorized robot gripper
Fiorillo A. S.;
1988-01-01
Abstract
A sensorized gripper, capable of providing the robot controller with force feedback signals and with information on the position of the grasped object relative to the jaws, is likely to be a fundamental component of the future generations of assembly robotic systems. This paper describes the design, fabrication, and preliminary testing of a tactile sensing array which is the core of a gripper intended for industrial applications. The tactile sensor, consisting of a matrix of 128 sensing elements, is based on the technology of the piezoelectric polymer pvf2. The system comprises a purposely developed electronic unit designed to scan and amplify the signals generated by the tactile matrix. Preliminary experiments demonstrate the ability of the sensorized gripper system to detect binary tactile images of several different objects. © 1988.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
