HIGH-STIFFNESS AND HIGH-SENSITIVITY 3-AXIS FORCE SENSOR USING STRAIN-DEFORMATION EXPANSION MECHANISM

Autor:	Showzow Tsujio, Yong Yu, Takashi Chaen
Rok vydání:	2008
Předmět:	Engineering Expansion rate business.industry Computer science Acoustics Stiffness High stiffness Deformation (meteorology) Force sensor Mechanism (engineering) Control theory medicine Robot Sensitivity (control systems) Deformation (engineering) medicine.symptom business
Zdroj:	IROS
ISSN:	1793-6985 0219-8789
DOI:	10.1142/s0219878908001600
Popis:	For dexterously performing object grasping and manipulation with multifingered hand of robot, sensing the fingertip forces with high-sensitivity and high-stiffness is desired. In general, based on previous sensing structures, we have to reduce a sensor's stiffness for obtaining a higher sensitivity of the sensor. It is hard to realize the force sensing with both of high-sensitivity and high-stiffness by previous sensing structures. 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 will not be reduced but will be 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.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_dedup___::395af5173cd8a6b5091fe17a7babcce8 https://doi.org/10.1142/s0219878908001600 Zobrazit plný text záznamu