5.3 A tactile (distributed touch) sensor of the gripper of a robotic manipulator

Question

5.3 A tactile (distributed touch) sensor of the gripper of a robotic manipulator consists of a matrix of piezoelectric sensor elements placed at 2 mm apart. Each element generates an electric charge when it is strained by an external load. Sensor elements are multiplexed at very high speed in order to avoid charge leakage and to read all data channels using a single high-performance charge amplifier. Load distribution on the surface of the tactile sensor is determined from the charge amplifier readings, since the multiplexing sequence is known. Each sensor element can read a maximum load of 50 N and can detect load changes on the order of 0.01 N. a. What is the spatial resolution of the tactile sensor? b. What is the load resolution (in N/m2) of the tactile sensor? c. What is the dynamic range?

Explanation / Answer

A series of sliding or jointed segments are put together to form an arm-like manipulator that is capable of automatically moving objects within a given number of degrees of freedom. Every commercial robot manipulator includes a controller and a manipulator arm. The performance of the manipulator depends on its speed, payload weight and precision. However, the reach of its end-effectors, the overall working space and the orientation of the work is determined by the structure of the manipulator.

Kinematics of a Robotic Manipulator

A robot manipulator is constructed using rigid links connected by joints with one fixed end and one free end to perform a given task (e.g., to move a box from one location to the next). The joints to this robotic manipulator are the movable components, which enables relative motion between the adjoining links. There are also two linear joints to this robotic manipulator that ensure non-rotational motion between the links, and three rotary type joints that ensure relative rotational motion between the adjacent links.

The manipulator can be divided into two parts, each having different functions:

Arm and Body – The arm and body of the robot consists of three joints connected together by large links. They can be used to move and place objects or tools within the work space.

Wrist – The function of the wrist is to arrange the objects or tools at the work space. Them structural characteristics of the robotic wrist includes two or three compact joints.

Robotic Manipulator Arm Configuration

Manipulators are grouped into several types based on the combination of joints, which are as follows:

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