Electronics Design of the Infrared/Ultrasonic Sensing for a Robot Gripper

摘要

The following paper is an overview of the electronics design of the Infrared/Ultrasonic Sensing Robot Gripper (Instrumented Gripper) designed, built and tested at the National Institute of Standards and Technology (NIST) in Gaithersburg, Maryland. The gripper is for use in the Automated Manufacturing Research Facilities (AMRF) Cleaning and Deburring Workstation (CDWS) at NIST. The paper begins with a System Description followed by the design of the Sensor Circuitry and the power. The Sensor Circuitry includes the sensor interface (to the sensor and the system) through the rectification and/or interpretation circuitry and finally to the output circuitry. The paper explains the experiments performed and their results in detail. Future considerations for the system follow and explain some applications for the Instrumented Gripper and further sensing ideas.