Robotic Wrist Force Sensor

With the pressing need for increased productivity and delivery of end products of uniform quality, industries have been focusing on robots to perform variety of manufacturing functions in a more flexible working environment and at lower production cost. The usage of robots to circumvent complicated problems and to provide high accuracy is also vastly expanding in many areas such as in medical, aerospace, agriculture, military etc. For a robot of same type having different number of dof, the cost difference is quite high. Furthermore, the availability of robotic wrist force sensor (wfs) is limited to specific applications only. Hence, the improvement of the dof allows the robot to expand its application sphere and the presence of general-purpose robotic wfs will allow the robot to perform multiple applications. Such an effort is laid in this book where, robot with insufficient dof is improved by adding an additional arm and a general purpose wfs is designed and calibrated to suite any required applications such as screwing, press fitting in assembly, slicing and measurement of surface profile. von Mariappan, Muralindran