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

石英谐振器力传感器及传感器手握控制和形状识别的研究

基本信息

批准号：
10650419
负责人：
MURAOKA Shigenobu
金额：
$ 1.92万
依托单位：
Osaka Institute of Technology
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
1998
资助国家：
日本
起止时间：
1998 至 2000
项目状态：
已结题

项目摘要

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

机器人中使用的许多力传感器都使用应变量规。这些力传感器很容易受到电噪声的影响，并且通常需要放大器，过滤器和A-D转换器，因为它们的输出是模拟和低水平的。但是，使用石英谐振器的力传感器对电噪声不敏感，因为其输出是频率。通过频率计数器可以轻松地将输出频率转换为数字信号。此外，没有A-D转换器的情况下，频率计数器的输出可以直接连接到计算机。力传感器还具有快速的响应，高灵敏度和高分辨率。此外，由于石英谐振器的频率通常远高于环境噪声的频率，因此即使在过滤器中使用时，传感器也可以具有较宽的带宽。因此，它可以在具有噪声背景的环境中使用，并且在需要快速响应的情况下进行。（1998）（1）在机器人手指上安装的更多石英谐振器的机械强度对静态和冲动力进行了实验检查。已经证实，石英谐振器可以用作机器人传感器。（2）证实，石英谐振器的力敏感性是对振荡力的持续不断的，至少至少可以通过Quartz resonors of Quart osod osod osod osod osod osod osod osod osod osod osod osod osod osod osod osod osod osod osod osod osod osod osod osod osod osod osod osod osod osod osod osod osod。基础。（1999）（1）制作了安装在机器人手指中的四对石英谐振器编码的抓握力传感器。（2）可以通过使用四对石英谐振器（3）滑移来检测物体的形状，可以通过使用Quartz Resonators（2000）（1）（1）（1）（2000）检测到四个石英谐振器（3）滑动方向（3）。（2）在国内外报告了研究项目的结果。较少的