Digital Sensor for Robot Grippers
Original Publication Date: 1986-Feb-01
Included in the Prior Art Database: 2005-Mar-08
In the past, grip sensors in robot grippers have been limited to two basic types. For example, one commonly used grip sensor is a photosensor which detects the presence of objects independent of the forces applied to such objects. A second commonly used grip sensor is the strain gauge, an analog device which measures the force applied to the gripped object. Unfortunately, this latter device requires very sensitive amplifiers and analog-to-digital conversion before a usable signal is obtained. In many gripper applications, only touch sensing is required. That is, a digital sensor, which activates when a threshold force is detected, provides a sufficient indication when a part is positively held by gripper fingers. Use of the above-mentioned analog sensor is precluded in many applications due to weight and cost.