Design, Analysis and Modelling of a Capacitive-Based Collision Detector for 3-DOF Hybrid Robotic Manipulator

摘要

A capacitive based collision detector is proposed and designed in this paper for the purpose of detecting any collision between the end effector and peripheral equipment (e.g., fixture) for the three degrees of freedom hybrid robotic manipulator when it is in operation. The new design is illustrated and modelled. The capacitance, sensitivity and frequency response of the detector are analyzed in detail, and finally, the fabrication process is presented. The proposed collision detector can also be applied to other machine tools.