DocumentCode
406832
Title
Development of a six-axis force/tactile sensor for robot finger by employing spring beams
Author
Luo, Minghua ; Ito, Masanori ; Shimizu, Etsuro ; Zhang, FeiFei
Author_Institution
Tokyo Univ. of Mercantile Marine, Japan
Volume
2
fYear
2003
fDate
2-6 Nov. 2003
Firstpage
1505
Abstract
In this paper, a six-axis force/tactile sensor for a robot finger is described. The elastic sensitive part of the sensor consists of only a copper plate. A mathematical model of the sensor is proposed. By this model, the grasping force, moment and touching position of robot finger can be calculated. Furthermore, the performance of this sensor is examined. The experimental results present the input-output relationship of the sensor. In experiment, the robot fingers equipped with this kind of sensor can steadily grasp an egg as well as other light and fragile objects.
Keywords
dexterous manipulators; force sensors; tactile sensors; grasping force; robot finger; six-axis force; spring beams; tactile sensor; touching position; Capacitive sensors; Fingers; Force measurement; Force sensors; Indium tin oxide; Robot sensing systems; Solid modeling; Springs; Stress; Tactile sensors;
fLanguage
English
Publisher
ieee
Conference_Titel
Industrial Electronics Society, 2003. IECON '03. The 29th Annual Conference of the IEEE
Print_ISBN
0-7803-7906-3
Type
conf
DOI
10.1109/IECON.2003.1280280
Filename
1280280
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