Development of a three-axis gripper force sensor and the intelligent gripper using it

This paper describes the development of a three-axis gripper force sensor that measure forces Fx, Fy and Fz simultaneously, and the intelligent gripper using two three-axis gripper force sensors for grasping an unknown object stably. In order to grasp an unknown object using an intelligent gripper safely, it should measure the forces in the grasping direction and in the gravity direction, and perform the force control with the measured forces. Thus, the intelligent gripper should be composed of two three-axis gripper force sensors that measure forces Fx, Fy and Fz at the same time. In this paper, two three-axis gripper force sensors for measuring forces Fx, Fy and Fz simultaneously were newly modeled using five parallel plate-beams, designed, and fabricated. The characteristic tests of the manufactured sensors were carried out, and their interference errors of the developed sensors were less than 3%. Also, the intelligent gripper was manufactured using two three-axis gripper force sensors, and their characteristic tests were carried out. It was conformed that the developed gripper could grasp an unknown object stably.