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Design of a Robot's Hand with Two 3-Axis Force Sensor for Grasping an Unknown Object  

Kim, Gab-Soon (ERI, School of Control and Instrumentation Engineering, Gyeongsang National University)
Publication Information
International Journal of Precision Engineering and Manufacturing / v.4, no.3, 2003 , pp. 12-19 More about this Journal
Abstract
This paper describes the design of a robot's hand with two fingers for stably grasping an unknown object, and the development of a 3-axis force sensor for which is necessary to constructing the robot's fingers. In order to safely grasp an unknown object using the robot's fingers, they should measure the forces in the gripping and in the gravity directions, and control the measured forces. The 3-axis force sensor should be used for accurately measuring the weight of an unknown object in the gravity direction. Thus, in this paper, the robot's hand with two fingers for stably grasping an unknown object is designed, and the 3-axis force sensor is newly modeled and fabricated using several parallel-plate beams.
Keywords
Robot's hand; Robots finger; 3-axis force sensor; Parallel-plate beam; Rated strain; Interference error; Strain gage;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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