par Delchambre, Alain 
;Bingen, Henri
Référence Journal A, 38, 4, page (31-35)
Publication Publié, 1997
;Bingen, Henri Référence Journal A, 38, 4, page (31-35)
Publication Publié, 1997
Article révisé par les pairs
| Résumé : | This paper presents a force sensor especially developed for teleoperation and assembly robotics. This sensor measures the deformation of a proof material with infrared optoelectronic components. It is able to measure up to six components: three forces and three torques along perpendicular axes. After a short overview of related work in this area, we describe the principle of the sensor with a simple sensor measuring an axial force up to 50 N. We use it for the force feedback control of a gripper finger. The force applied by the finger tip is compared to the force applied by the operator on an actuator. This permits a remote grasp feeling. We then explain how to extend this principle to a six-component sensor. It is compact (25x40 mm), light (100 gr) and robust (500 % overload). The range is up to 50 N for forces and 1 Nm for torques. As the sensor can be applied in a wide range of applications, we present the current developments to extend its possibilities: extension of the measuring range and resistance to nuclear irradiations. |
