Abstract
It is common to manipulate paper using manipulator. It is better to measure small thickness using manipulator automatically. The spherical tip on manipulator can put small thickness into bigger angle which is easy to measure. The measuring device is made of manipulator, force sensor and spherical tip. The accuracy of the measuring device should be satisfied with ±0.005mm, so the parameter which effect the accuracy should be checked. The experiment of measuring small thickness is made. The result shows that it is possible to measure thickness of accuracy of ±0.005mm with spherical tip on manipulator.
