有限要素法による接触変形解析に基づく光導波形三軸触覚センサの設計

概要

論文の詳細を見る
The present paper describes a new three-axis tactile sensor applying an optical waveguide plate. The sensor comprises two kinds of feeler arrays attached on opposite sides of a rubber sheet. One is a sparse array of column shaped feelers which contact the object to be recognized, the other is a dense array of cone shaped feelers which maintain contact with the waveguide plate. Since one column feeler under the action of applied force is arranged to press four cone feelers, components of the force vector are identified by the four contact areas of the cone feelers. A series of contact analysis using the nonlinear finite-element method was performed to provide desirable shapes of feelers and optimum Young's moduli of the feelers and the rubber sheet. The present tactile sensor is confirmed to be able to measure three components of the applied force vector. It is found that the sensitivity is affected not by Young's modulus of the column feelers but by that of the cone feelers, and that the sensitivity is proportional to the length of the column feelers, but inversely to the thickness of the rubber sheet.
一般社団法人日本機械学会の論文
1995-05-25