Displacement Sensor Integrated Into a Remote Center Compliance Device for a Robotic Assembly

Compliance devices facilitate robotic assemblies by preventing excessive contact force on automated devices. However, the unavailability of displacement information regarding compliance makes it difficult to protect robots and objects during assembly. It also limits repeatability efficiency, especially peg-in-hole similar operations. We propose a six-axis sensor installed remote center device detect three translation rotation components generated external forces torques applied device, respectively. Triangular prism-shaped structures are used with capacitive sensing technology measure vertical horizontal displacements in mm scale normal shear sensor. designed fabricated that could be integrated into demonstrating has simple structure is easy install. To obtain force/torque displacement, calibration experiments were conducted using specific setup considering device's geometry. The high performance was verified through complementary experiments.