Tracing Type Active Antenna with Friction Independence

具有摩擦无关性的跟踪型有源天线

• 批准号: 12650251
• 负责人: KANEKO Makoto
• 金额: $ 2.3万
• 依托单位: HIROSHIMA UNIVERSITY
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 2000
• 资助国家: 日本
• 起止时间: 2000 至 2001
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-12650251/
• 关键词: Tactile Sensor; Whisker Sensor; Active Antenna; Surface Profile; 触角センサ; トレーシングセンサ; トレースセンサ; トルクセンサ; 形状センシング; 能動センシング; 能動触角; 弾性棒

The obtained results throughout our research activities can be summarized as follows :・ We proposed the tracing type artificial active antenna for detecting surface profile through tracing motion.・ The sensor is composed of a straight whisker without any tactile element, an adapter for connecting the whisker and the base, strain gauges for detecting moment, and an actuator for moving the whole system.・ We showed theoretically that if a straight-line whisker is used, the system can detect surface profile with extremely high accuracy irrespective of the friction at the point of contact.・ We confirmed experimentally that the developed sensor system can keep the sensing accuracy of 5 micrometer.・ Due to its slender body, this sensor is applicable for various environments where it is hard to be inserted by the conventional sensors.

通过我们的研究活动所获得的结果可以概括如下：·我们提出了跟踪型人工有源天线，通过跟踪运动来检测表面轮廓。该传感器由一个没有任何触觉元件的直触须、一个连接触须和底座的适配器、用于检测力矩的应变片和一个用于移动整个系统的致动器组成。·我们从理论上证明，如果使用直线晶须，系统可以以极高的精度检测表面轮廓，而无需考虑接触点的摩擦力。·实验结果表明，所研制的传感器系统能够保持5微米的传感精度。·由于其细长的主体，该传感器适用于传统传感器难以插入的各种环境。

项目成果

Makoto Kaneko: "Tracing Type Artificial Active Antenna"Journal of RSJ. 18・8. 1173-1179 (2000)

Makoto Kaneko：“追踪型人工有源天线”RSJ 18・8（2000）。

金子 真: "Envelope Family操りの十分条件"日本ロボット学会誌. 19・7. 63-73 (2001)

Makoto Kaneko：“信封族操纵的充分条件”日本机器人学会杂志 19・73（2001）。

Makoto Kaneko: "Vision-Based Active Sensor Using a Flexible Beam"IEEE/ASME TRANSACTIONS ON MECHATRNICS. 6・1. 1-11 (2001)

Makoto Kaneko：“使用柔性梁的基于视觉的主动传感器”IEEE/ASME TRANSACTIONS ON MECHATRNICS 6・1 (2001)。

M. Kaneko: "Scale-Dependent Grasp"IEEE Transactions on Systems, Man, and Cybernetics. Vol. 30, no. 6. 806-816 (2000)

M. Kaneko：“尺度相关的把握”IEEE Transactions on Systems, Man, and Cyber​​netics。

M. Kaneko: "Tactile Differentiator"IEEE Int. Conf. on Robotics and Automation. 4023-4028 (2001)

M. Kaneko：“触觉区分器”IEEE Int。