Mass-Manufacturable 3D Magnetic Force Sensor for Robotic Grasping and Slip Detection.

Area of Science:

• Robotics
• Sensor Technology
• Materials Science

Background:

• Industrial robotic grippers struggle with manipulating delicate objects.
• Existing magnetic force sensors use manual assembly, limiting repeatability and mass production.
• These sensors require a magnet embedded in an elastomer, placed on a magnetometer chip.

Purpose of the Study:

• To present a magnetic force sensor with an optimized manufacturing process for mass production.
• To improve the repeatability and cost-effectiveness of magnetic force sensors for robotics.
• To demonstrate the sensor's capability for 3D force sensing and slip detection.

Main Methods:

• Fabrication of the elastomer-magnet transducer using injection molding.
• Assembly of the transducer unit onto the magnetometer chip using semiconductor manufacturing techniques.
• Characterization of measurement repeatability over multiple samples and 300,000 loading cycles.

Main Results:

• A compact (5 mm × 4.4 mm × 4.6 mm) differential 3D force sensor was developed.
• High measurement repeatability was achieved across multiple samples and extensive loading cycles.
• The sensor's 3D high-speed sensing capabilities were demonstrated for slip detection.

Conclusions:

• The optimized manufacturing process facilitates mass production of magnetic force sensors.
• The developed sensor offers robust 3D force sensing with improved repeatability for industrial grippers.
• High-speed sensing enables effective slip detection, enhancing robotic manipulation capabilities.