Nagarajan Ramachandran

Robotic Wrist Force Sensor: Design, Development & Calibration Nagarajan Ramachandran

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. However, since industries are shifting to a new trend of flexible manufacturing system where robots deal with multiple product manufacturing and varied complex tasks, the degree of freedom (dof) of the robot has significant contribution. 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. This book introduces the design, development and calibration of a robotic wrist force sensor which utilises artificial intelligence.