Sensing capabilities of linear elastic cylindrical fingers
Sensing capabilities of linear elastic cylindrical fingers
复制标题
线弹性圆柱手指的传感能力
DOI：
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发表时间：
1993
期刊：
影响因子：
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通讯作者：
R. Fearing
中科院分区：
文献类型：
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作者：
Edward J. Nicolson;R. Fearing
开发了具有实心芯和弹性表面的圆柱形手指的线性弹性平面应变模型。该模型用于确定表面下应变脉冲响应以及刚性物体与摩擦产生的圆柱体压痕接触区域的压力分布。奇异值分解用于找到分析应变形状反演问题的简化基础。这种分解表明，传感器深度必须很小才能实现良好的形状传感。然而，如果只需要接触位置和施加的力的大小和方向，深度传感器可以快速、轻松地提供这些信息。
A linear elastic plane strain model for a cylindrical finger with a solid core and elastic surface is developed. This model is used to determine the subsurface strain impulse responses as well as pressure distributions in the contact region for indentation of the cylinder by rigid objects with friction. Singular value decomposition is used to find a reduced basis in which to analyze the shape-from-strain inversion problem. This decomposition shows that sensor depth must be small to achieve good shape sensing. However, if only contact location and applied force magnitude and direction are required, deep sensors can quickly and easily provide this information.