Experimental research on robotic fingertip compliant tactile sensor based on strain gauge

For the uniform and homogeneous rod gripped by robots in gravitational field, a kind of compliant tactile sensor was designed. In order to investigate the performance of the sensor, a robot's parallel gripper was designed and manufactured. Meanwhile, the experimental control system of the 8098 single chip microprocessor was designed and the corresponding software was compiled. The sensor was installed on a robot's parallel gripper. The length, the line density, the mass and the grip position of the object can be measured respectively by using this kind of sensor. The objects gripped can be classified according to one of the parameters stated above. In addition, by judging the length and the gripping position, the robot can grip the centre of the object. Therefore, the grip stability is improved.