Study of Force Sensor Using Quartz Resonators and Grasp Control and Recognizing Shape of Object by Hand with the Sensor

机器人中使用的许多力传感器都使用应变片。这些力传感器很容易受到电噪声的影响，通常需要放大器，滤波器和a - d转换器，因为它们的输出是模拟的和低电平的。然而，使用石英谐振器的力传感器对电噪声不敏感，因为它的输出是一个频率。输出频率可以很容易地通过频率计数器转换成数字信号。此外，频率计数器的输出可以直接连接到计算机，而不需要a - d转换器。力传感器还具有响应快、灵敏度高、分辨率高的特点。此外，由于石英谐振器的频率通常比环境噪声的频率高得多，因此即使使用滤波器，传感器也可以具有较宽的带宽。因此，它可以在嘈杂的背景环境中使用，也可以在需要快速响应的情况下使用。接下来的研究都安排好了。(1)安装在机器人手指上的石英谐振器在静力和冲力作用下的机械强度进行了实验研究。结果表明，石英谐振器可以作为机器人传感器。(2)证实了石英谐振器的力灵敏度在至少2 kHz的振荡力下是恒定的。(3)采用石英谐振器的力传感器可以检测滑移。(4)在此基础上，实验制作了一种包含三对石英谐振器的抓力传感器。(1)将四对石英谐振器安装在机器人手指上，制成了抓力传感器。(2)采用四对石英谐振器的抓握力传感器可以检测物体的形状(3)采用石英谐振器的力传感器可以检测滑移方向（2000）(1)采用四对石英谐振器的抓握力传感器可以检测物体的形状。(2)研究项目成果在国内外进行了报道。少

Many force sensors used in robots utilize strain gauges. These force sensors are readily affected by electrical noise, and often require amplifiers, filters and A-D converters because their output is analogue and of a low level. However, a force sensor using quartz resonators is insensitive to electrical noise because its output is a frequency. The output frequency can easily be converted into a digital signal through a frequency counter. In addition, the output of the frequency counter can be directly connected to a computer without an A-D converter. The force sensor also has quick response, high sensitivity and high resolution. Furthermore, since the frequency of a quartz resonator is generally much higher than the frequency of environmental noise, the sensor can have a wide bandwidth even when use with filters. Therefore, it could be used in an environment with a noisy background and in cases requiring a quick response.The next studies were cared out.(1998)(1) Mechanical strength of … More quartz resonators mounted in a robot finger was examined experimentally to static and impulsive forces. It was confirmed that the quartz resonator could used as a robot sensor.(2) It was confirmed that force sensitivity of a quartz resonator is constant to an oscillatory force of up to 2 kHz at least.(3) Slip could be detected by the force sensor using quartz resonators.(4) On the basis of the aforementioned, a grasp force sensor incorporating three pairs of quartz resonators was made on an experimental basis.(1999)(1) The grasp force sensor incorporating four pairs of quartz resonators mounted in a robot finger was made.(2) The shape of an object could be detected by the grasp force sensor incorporating four pairs of quartz resonators(3) Slip direction could be detected by the force sensor using quartz resonators(2000)(1) The shape of an object can be detected and by the grasp force sensor with four pairs of quartz resonators.(2) Results of the research project were reported at home and abroad. Less