采用弹簧梁的机器人手指六轴力/触觉传感器的研制

IECON'03. 29th Annual Conference of the IEEE Industrial Electronics Society (IEEE Cat. No.03CH37468) Pub Date : 2003-11-02 DOI:10.1109/IECON.2003.1280280

Minghua Luo, M. Ito, E. Shimizu, Feifei Zhang

{"title":"采用弹簧梁的机器人手指六轴力/触觉传感器的研制","authors":"Minghua Luo, M. Ito, E. Shimizu, Feifei Zhang","doi":"10.1109/IECON.2003.1280280","DOIUrl":null,"url":null,"abstract":"In this paper, a six-axis force/tactile sensor for a robot finger is described. The elastic sensitive part of the sensor consists of only a copper plate. A mathematical model of the sensor is proposed. By this model, the grasping force, moment and touching position of robot finger can be calculated. Furthermore, the performance of this sensor is examined. The experimental results present the input-output relationship of the sensor. In experiment, the robot fingers equipped with this kind of sensor can steadily grasp an egg as well as other light and fragile objects.","PeriodicalId":403239,"journal":{"name":"IECON'03. 29th Annual Conference of the IEEE Industrial Electronics Society (IEEE Cat. No.03CH37468)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2003-11-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"5","resultStr":"{\"title\":\"Development of a six-axis force/tactile sensor for robot finger by employing spring beams\",\"authors\":\"Minghua Luo, M. Ito, E. Shimizu, Feifei Zhang\",\"doi\":\"10.1109/IECON.2003.1280280\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper, a six-axis force/tactile sensor for a robot finger is described. The elastic sensitive part of the sensor consists of only a copper plate. A mathematical model of the sensor is proposed. By this model, the grasping force, moment and touching position of robot finger can be calculated. Furthermore, the performance of this sensor is examined. The experimental results present the input-output relationship of the sensor. In experiment, the robot fingers equipped with this kind of sensor can steadily grasp an egg as well as other light and fragile objects.\",\"PeriodicalId\":403239,\"journal\":{\"name\":\"IECON'03. 29th Annual Conference of the IEEE Industrial Electronics Society (IEEE Cat. No.03CH37468)\",\"volume\":\"32 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2003-11-02\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"5\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"IECON'03. 29th Annual Conference of the IEEE Industrial Electronics Society (IEEE Cat. No.03CH37468)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/IECON.2003.1280280\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"IECON'03. 29th Annual Conference of the IEEE Industrial Electronics Society (IEEE Cat. No.03CH37468)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IECON.2003.1280280","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 5

摘要

本文介绍了一种用于机器人手指的六轴力/触觉传感器。传感器的弹性敏感部分仅由一块铜板组成。提出了传感器的数学模型。通过该模型可以计算机器人手指的抓握力、力矩和触点位置。此外，还对该传感器的性能进行了测试。实验结果给出了传感器的输入输出关系。在实验中，装有这种传感器的机器人手指可以稳定地抓住鸡蛋以及其他轻而易碎的物体。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Development of a six-axis force/tactile sensor for robot finger by employing spring beams

In this paper, a six-axis force/tactile sensor for a robot finger is described. The elastic sensitive part of the sensor consists of only a copper plate. A mathematical model of the sensor is proposed. By this model, the grasping force, moment and touching position of robot finger can be calculated. Furthermore, the performance of this sensor is examined. The experimental results present the input-output relationship of the sensor. In experiment, the robot fingers equipped with this kind of sensor can steadily grasp an egg as well as other light and fragile objects.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

IECON'03. 29th Annual Conference of the IEEE Industrial Electronics Society (IEEE Cat. No.03CH37468)

自引率

0.00%

发文量