Evaluation of Error and Sensitivity for Force Sensor Using Shape-Memory Polymer

Kazuto Takashima, Ryo Onoda, T. Mukai
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引用次数: 4

Abstract

Robotic technology is being increasingly used in a variety of fields, including not only manufacturing, but also nursing and welfare. Applications of robotic technology in nursing and welfare require the measurement of a wide range of forces in order to grasp and lift objects accurately in different operating environments. In light of this, we have developed a force sensor that uses a shape-memory polymer (SMP) whose stiffness varies with temperature. The relationship between the applied force and the deformation of the SMP changes depending on the temperature, which allows the measurement range and sensitivity to be changed with temperature. Our sensor, which consists of strain gauges bonded to an SMP beam, senses the applied force by measuring the strain in the SMP as it bends. In the present study, four SMP force sensors with different numbers of strain gauges and steel plates were fabricated, and their accuracy and sensitivity were evaluated. Experiments using the prototypes demonstrated that the sensor with one steel plate had a small error and a large sensitivity range.
形状记忆聚合物力传感器的误差和灵敏度评价
机器人技术越来越多地应用于各种领域,不仅包括制造业,还包括护理和福利。机器人技术在护理和福利方面的应用需要测量大范围的力,以便在不同的操作环境中准确地抓取和抬起物体。鉴于此,我们开发了一种使用形状记忆聚合物(SMP)的力传感器,其刚度随温度变化。施加的力与SMP变形之间的关系随着温度的变化而变化,这使得测量范围和灵敏度可以随着温度的变化而变化。我们的传感器由连接在SMP梁上的应变片组成,通过测量SMP弯曲时的应变来感知施加的力。在本研究中,制作了4个具有不同应变片数量和钢板的SMP力传感器,并对其精度和灵敏度进行了评价。样机实验表明,单钢板传感器误差小,灵敏度范围大。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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