Design of a sensorised end-effector for robotic tooling operations

This paper presents the design and some experimental results of a wrist force sensor for robotic drilling and milling operations. The design of the facility is carried out with the intent to employ the force sensor both in automated working and human assisted operations by means of haptic interfaces. Both static and dynamic facility's performances are tested on a proper test bench. The experimental results show both the sensor's capability to detected the forces in its transversal and longitudinal plane, and its bandwidth.