【作者】 梁桥康； 宋全军； 葛运建；

【Author】 LIANG Qiao-kang~(1,2),SONG Quan-jun~1,GE Yun-jian~1 (1.Institute of Intelligent Machines,Chinese Academy of Sciences,Hefei 230031,China; 2.Department of Automation,University of Science and Technology of China,Hefei 230027,China)

【机构】 中国科学院 合肥智能机械研究所； 中国科学技术大学自动化系；

【摘要】 建立一种基于E型膜片和双薄矩形薄片结构机器人的四维指力/力矩传感器弹性体有限元分析模型,分析弹性体在4种载荷工况下的应力分布、固有频率和振型,得到弹性体的应力—应变规律及传感器的静态、动态性能,确定应变片的粘贴位置和检测电路,研制用于智能手爪指尖的四维力传感器。研究结果表明,该传感器具有结构简单、灵敏度高、易于标定的特点。更多还原

【Abstract】 The innovation of a novel four-dimensional fingertip force sensor for robot fingers was described.Used metallic slice of E-film and double rectangle slices as its elastomer,the sensor can generate force information,which includes the normal force,both tangential force terms and the torque about the normal axis.The structure design of the senor and its elastomer,and the performance of the elastomer were also involved.Via ANSYS,the static and dynamic performances of the elastomer were obtained.At last,the placement strategy of the strain gauge was planned.The results show that the system has simple configuration and high sensitivity.更多还原