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Design and implementation of multiaxial force sensing gripper fingers

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Abstract

This paper focuses on the integration of elementary force sensors into the fingers of parallel grippers. The theory of the approach of integrating three sensor elements into a gripper finger is described and the results of the practical evaluations are given. Strain gauges are used as elementary sensor elements. Two different design approaches are evaluated. The first one uses H-shaped cut-outs to weaken the structure at designated areas. The measurement accuracy of this system is compared with a second approach without cut-outs, which is easier to manufacture. Finite element analysis is used in both approaches to simulate the behaviour and to determine the best locations for strain gauge application. The performances of both design concepts are experimentally evaluated. It can be seen that the results of the finite-element analysis are correct and that a satisfactory decoupling of the basic sensors can be achieved using a physical or mathematical approach. Both prototypes are able to measure the gripping force with sufficient accuracy.

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Acknowledgments

This work was supported by the University and Federal State of Bremen within the APF-Schwerpunktprojekt Integrated Solutions in Sensorial Structure Engineering (ISIS) (Grant Number 007056).

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  1. Bremen Institute for Mechanical Engineering, University of Bremen, Badgasteiner Str. 1, 28213, Bremen, Germany

    Sebastian Hogreve & Kirsten Tracht

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  1. Sebastian Hogreve
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  2. Kirsten Tracht
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Correspondence to Sebastian Hogreve.

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Hogreve, S., Tracht, K. Design and implementation of multiaxial force sensing gripper fingers. Prod. Eng. Res. Devel. 8, 765–772 (2014). https://doi.org/10.1007/s11740-014-0563-x

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