球容器内電極間液電導度による無軸作用力方向センサ

概要

論文の詳細を見る
This paper proposes a sensor using liquid conductivity among electrodes in a non-conductive spherical vessel for measuring direction-of-action changing slowly. Since the sensor is attached to a moving object, conductive liquid sealed in the vessel moves through the electrodes freely, according to posture of the vessel. The liquid dipps with multiple electrodes standing at twelve points centripetally along the inner wall of the vessel so that the conductivity among the electrodes is changed. The change is detected to calculate the normal of the liquid surface. Thus, the direction-of-action from which the liquid moves is obtained. The measurement principle and experimental results of the sensor are shown. Also, electrodes shape is analysed to show the conductivity changes in the measurement, and electrode arrangement is considered to make measurement accuracy equal inn all directions. It is confirmed that the measurement accuracy is within 7.6° in all directions.
社団法人日本ロボット学会の論文
1992-09-15