Gripper with Integrated Three-Dimensional Force Detection

Abstract

Force measurement systems are common components of automated handling systems. They are usually implemented in terms of additional modules and therefore, increase the mass of the endeffector. In this paper, a new gripper finger design is developed and implemented that allows the direct, cost-effective and easy integration of force sensors into the gripper finger. Three strain gauge based force sensors are integrated in each finger of an electrically actuated parallel gripper. They allow measurement close to the contact point with small offsets. Experimental investigations with a prototype showed good measuring accuracy and decreased mass of the endeffector compared to conventional systems.