This Small Business Innovation Research Phase I project is directed toward improving Flexible Integrated Manufacturing (FIM) by making robots more flexible, thereby increasing economic competitiveness. Specifically, this will be achieved by researching and developing robust triaxial force sensor arrays for robot end-effectors so that less specialized end-of-arm tooling can be used for a variety of automation tasks. Besides reducing the need for custom end-effectors, the triaxial arrays, or triaxial tactile sensors, will also provide critical force information during robot tasks. This information can be used to monitor the process or in feedback control of the robot to assure that parts are properly grasped, to detect and possibly correct of slippage, and to guide manipulation. In Phase I Bonneville Scientific, Inc., will attempt to establish the feasibility of an ultrasonic technique for triaxial force sensing. If successful, this will provide the basis for the further research and development in Phase II, culminating with a complete computer-based triaxial tactile sensor system. Besides use in industrial automation, the triaxial sensors will have application ranging from automotive tire testing and development to foot force sensing and gait analysis.
