A Gripper Force Sensing Device for Collaborative Manipulator Based on Force Sensitive Resistor

The gripper jaws equipped with collaborative manipulator usually do not have a clamping force detection function, which makes their application scenarios very limited. In order to solve this problem, it is necessary to make the gripper jaws sensing capability. In this paper, a gripping force sensing device based on a thin-film pressure sensor is designed. The device uses a quadratic force sensor with a 24-bit AD module to collect mechanical data, and linear data fitting is performed between the collected data and the corresponding actual force sensing value to achieve high-precision detection of clamping force. The detection range and accuracy of the device can also be obtained by data fitting. The experimental results show that the clamping force sensing device can be installed on the common gripper jaws, so that the jaws can have the function of clamping force detection and expand the application scenarios of the device. Capable of sensing Clamping force in the range of 10–700 g, with a sensing error of ±2.