• Cost-effective manufacturing • High reliability • Highly compact • High force control stability
In order to introduce safety and to reduce the cost, our inventors have developed a 3-axis compliant force/torque sensor based on an orthoplanar spring which employs Hall effect sensing. The orthoplanar spring provides the beneficial passive compliance, while force and toques are sensed using Hall effect sensors. Orthoplanar springs are compact and simple while the Hall effect sensors are low cost, contact free, and relatively easy to implement. Furthermore, no links or joints are required, thus there is minimal wear. This unique design allows the robot to be used in applications where a robot must control contact forces with its environment, such as in surface cleaning tasks, manipulating doors, and removing threaded fasteners.
Compliant Wrist Device with Orthoplanar Spring