Enhancement Of Robot Haptic Sensor Technology

Fong, Zuyang (2019) Enhancement Of Robot Haptic Sensor Technology. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

Haptic sensor technology is widely used in robotic and surgery application. Haptic technology is using haptic device which communicate with the human machine through touch. In manufacturing company, human manually operated surface roughness measurement tester that causes for inaccuracy compare to robot operated automatically. This research work has been started a few years ago. The problem of this study is due to the previous achievement of the research work that produced a poor result in term of accuracy. The aim of this study is to enhance the sensitivity of the sensor in the way of changing the design, material and fabrication of the parts of sensor. Firstly, the material of the poly-jet is identified through CES by getting the material properties and X-Y graph. Secondly, redesign the design of the poly-jet and needle tips by using Solidwork. Then, needle tips and needle tips together with selected poly-jet are undergo a series of experiment by using the robot end effector of Comau Robot in the FKP Robotic Laboratory. Results of the experiments are showed through ADC. ADC is generated through GUI and converted manually into graph and table. In every section, there is comparison within material and design. In the first section, it is about design comparison of needle tips where Experiment 1 was compared to Experiment 2 and the result for Experiment 1 is better than Experiment 2 which proved that the new design of needle tips is better. In the second section, the performance of material outcome is not the same as expected where there is no different between TPU and PLA material. In the last section, the experiment is tested on the performance design of poly-jet where the first design of Poly-jet is better than second and third design. The overall design for assembly are new of needle tips, first design of poly-jet and TPU that have been selected due to the flexibility of the material and better in material properties.

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