Performance and Sealing Material Evaluation in 6-axis Force-Torque Sensors for Underwater Robotics

Abstract

In this paper, the effects of two different materials for the sealing on the performance of an innovative optoelectronic force/torque sensor for underwater robotic applications are investigated. The sensor has been designed to exhibit a considerable compliance in comparison with commercial F/T sensors for industrial applications, and optoelectronic components have been used as sensible elements for the development of the sensor, allowing a relatively simple and reliable implementation. These properties allow dealing with uncertain environments and an easy sensor integration in complex robotic systems, such as in robotic grippers for underwater applications. The paper presents the basic working principle and the design of the sensor together with experimental data to illustrate its main features. Finally, the use of the sensor as an intrinsic tactile sensor is investigated and experimentally validated, and the comparison of different materials for the rubber sealing in terms of their effects on the sensor performance is executed.