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A Random-displacement Measurement by Combining a Magnetic Scale and Two Fiber Bragg Gratings

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Development of 6 DOF Displacement Sensor Using RUS Parallel Mechanism.

Donghyun Kim¹, Sunghyun Choi¹, Dongwon Yun¹

¹Department of Robotics, Daegu Gyeongbuk Institute of Science and Technology (DGIST), Daegu 42988, Korea.

Sensors (Basel, Switzerland)

|July 2, 2021

Summary

This study introduces a new Remote Center Compliance (RCC) device capable of measuring end-effector displacement for improved accuracy in robotic assembly. The developed RCC utilizes angular displacement sensors for cost-effective and compact designs, validated through peg-in-hole simulations.

Keywords:

6DOF distance sensor RCC (Remote Center Compliance)RUS system Stewart System peg-in-hole singularity

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Area of Science:

Robotics
Mechanical Engineering
Control Systems

Background:

Traditional manipulators and Remote Center Compliance (RCC) devices enhance robotic assembly accuracy but have limitations.
Force-based control is slow, and existing RCCs lack deflection measurement, hindering precise end-effector positioning.
Accurate force and position control necessitates measuring RCC deflection, requiring novel device development.

Purpose of the Study:

To present the necessity and feasibility of developing a novel RCC device capable of measuring end-effector displacement.
To demonstrate the potential for cost-effective and compact designs using angular displacement sensors.
To validate the proposed RCC's applicability in industrial settings through peg-in-hole simulations.

Main Methods:

Development of a novel Remote Center Compliance (RCC) device incorporating displacement sensing capabilities.
Integration of angular displacement sensors for measuring end-effector deflection.
Feasibility demonstration using a 6-Degrees-of-Freedom (DOF) parallel mechanism and peg-in-hole simulations.

Main Results:

The proposed RCC design enables accurate measurement of end-effector displacement, addressing limitations of existing systems.
Utilizing angular displacement sensors proved feasible for creating more affordable and compact robotic compliance devices.
Peg-in-hole simulations confirmed the practical utility of the developed RCC for industrial applications.

Conclusions:

A novel RCC device capable of measuring end-effector displacement has been conceptualized and its feasibility demonstrated.
The integration of angular displacement sensors offers a promising approach for developing cost-effective and compact robotic manipulators.
The developed RCC shows significant potential for enhancing precision and efficiency in industrial assembly tasks.