Open Access

Steffen Schröder, Thomas Wendt, Stefan Rupitsch

• This research presents a capacitive displacement sensor concept for use in a pin array gripper. The sensor measures the displacement of individual pins with a plate capacitor structure. The pin is movably positioned between the electrodes. The capacitive displacement sensor is constructed with sensing, guiding, and shielding electrodes. A homogeneous electric field is achieved between theThis research presents a capacitive displacement sensor concept for use in a pin array gripper. The sensor measures the displacement of individual pins with a plate capacitor structure. The pin is movably positioned between the electrodes. The capacitive displacement sensor is constructed with sensing, guiding, and shielding electrodes. A homogeneous electric field is achieved between the capacitor plates to ensure a linear change in capacitance. A shielding concept for the sensor has been evaluated to minimize external interference and mutual interference between the individual displacement transducers. This ensures stable operation and reliable displacement measurements of the individual pins. The design of the concept for additive manufacturing offers advantages in terms of customization and implementation on different pin gripping systems, as well as a compact design. A test sensor was additive manufactured. The newly developed sensor was tested in an experimental setup to ensure functionality and comparing the sensory behavior with the simulations.…