A Potential 4-D Fingertip Force Sensor for an Underwater Robot Manipulator

Author

Liang, Qiaokang ; Zhang, Dan ; Song, Quanjun ; Ge, Yunjian

Author_Institution

Inst. of Intell. Machines, Univ. of Sci. & Technol. of China, Hefei, China

Volume

35

Issue

3

fYear

2010

fDate

7/1/2010 12:00:00 AM

Firstpage

574

Lastpage

583

Abstract

The latest generation of underwater robots employ manipulators without force sensors. Accordingly, this paper presents a novel 4-D fingertip force sensor based on an E-type membrane for underwater robot manipulators. Specifically, this sensor is aimed at obtaining the accurate interaction force between underwater robot manipulators and other objects. Moreover, a seal technique and natural pressure compensation for the sensor are also described. The experimental results demonstrate strong linearity, high sensitivity, and weak couplings.

Keywords

dexterous manipulators; force control; force sensors; membranes; pressure control; 4D fingertip force sensor; E-type membrane; interaction force; natural pressure compensation; seal technique; underwater robot manipulator; Assembly; Biomembranes; Fingers; Force; Force sensors; Machine intelligence; Manipulators; Mechanical sensors; Remotely operated vehicles; Robot sensing systems; Seals; Strain; 4-D; Force/torque sensor; overload protection; underwater robot;

fLanguage

English

Journal_Title

Oceanic Engineering, IEEE Journal of

Publisher

ieee

ISSN

0364-9059

Type

jour

DOI

10.1109/JOE.2010.2050362

Filename

5535227