A three axis tactile sensor-probe for robotic use

Abstract

SUMMARY The paper deals with a three axis reaction force and displacement sensor. The design procedure of the strain gauges sensor for its intended application as a tactile proble is described. The deformable sensor body with strain gauges arrangement allows all three output voltage readings to be directly related with rectangular components of the force displacement vector in a remote contact reference system. The structural orthogonalisation that results in minimal cross component couplings is briefly outlined. The practical use of the designed probe is exemplified by seam following in a robotic welding system.