In order to achieve the manipulator's soft grasp function, the key is to have slip sensors with fine performance. Depending on the elastomer and photoelectric elements installed in the hand, the sensor transforms ...In order to achieve the manipulator's soft grasp function, the key is to have slip sensors with fine performance. Depending on the elastomer and photoelectric elements installed in the hand, the sensor transforms the slippage between the grasped object and the robot's hand to electric signal, thus the slippage can be detected. It will cause elastomers' micro-vibration when the object is slippage. Based on the vibration theory, dynamic theory, light intensity theory and elastic deformation theory, derived is the conclusion that the object's slippage acceleration relativing to the robot's hand has linear relationship with the photoelectric elements' output voltage's differential, and then the model for slippage distinguishing is set up.展开更多
基金National Natural Science Foundation of China(50475060)
文摘In order to achieve the manipulator's soft grasp function, the key is to have slip sensors with fine performance. Depending on the elastomer and photoelectric elements installed in the hand, the sensor transforms the slippage between the grasped object and the robot's hand to electric signal, thus the slippage can be detected. It will cause elastomers' micro-vibration when the object is slippage. Based on the vibration theory, dynamic theory, light intensity theory and elastic deformation theory, derived is the conclusion that the object's slippage acceleration relativing to the robot's hand has linear relationship with the photoelectric elements' output voltage's differential, and then the model for slippage distinguishing is set up.
