High-Stiffness and High-Sensitivity 3-Axis Force Sensor Using Strain-Deformation Expansion Mechanism
High-Stiffness and High-Sensitivity 3-Axis Force Sensor Using Strain-Deformation Expansion Mechanism
复制标题
DOI：
10.1142/s0219878908001600
复制
发表时间：
2006-10
期刊：
影响因子：
--
通讯作者：
Yong Yu;Takashi Chaen;S. Tsujio
中科院分区：
文献类型：
--
作者：
Yong Yu;Takashi Chaen;S. Tsujio
为了使机器人多指手灵巧地抓取和操作物体，需要高刚度、高灵敏度的指尖力传感。一般来说，从以往的传感结构来看，如果传感器的刚度越高，其灵敏度就越低。提出了一种新的三轴力传感应变-变形扩展机构。通过力传感机构，可以扩大用于力传感的小应变变形，而传感器刚度不降低，而是提高。本文从理论上分析了传感机构的变形和作用在传感器上的力，阐述了力传感原理。然后，定义了传感机构的灵敏度及其灵敏度扩展率，讨论了实现高灵敏度传感机构的设计方法。最后，通过实验验证了该传感机制的基本特性和有效性
For dexterously performing object grasping and manipulation with multifingered hand of robot, sensing the fingertip forces with high-stiffness and high-sensitivity is desired. In general, from previous sensing structures, if the stiffness of a sensor is made be higher, its sensitivity is reduced. This paper proposes a novel mechanism called strain-deformation expansion mechanism for 3-axis force sensing. By the force sensing mechanism, the small strain-deformation used for force sensing can be expanded while the sensor stiffness is not reduced but is heightened. In this paper, the force sensing principle is addressed by analyzing the deformation of the sensing mechanism and the forces acting on the sensor theoretically. Then, the sensitivity of the sensing mechanism and its expansion rate of sensitivity are defined, and a design method for realizing the sensing mechanism with high sensitivity is discussed. Lastly, some experiments are performed to show the basic characteristics and the effectiveness of the sensing mechanism