光導波形三軸触覚センサの複合荷重に対する感度特性

概要

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This paper describes an optical three-axis tactile sensor capable of detecting both vertical force and slippage force. The single sensor cell of the sensor was comprised of a columnar feeler and 2-by-2 conical feelers. We derived equations to precisely estimate the three-axis force and displacement from the area-sum and area-difference of contact areas of the conical feelers, based on a mechanical model of the columnar and conical feelers. A series of calibration experiments was performed to validate the equations. In the experiments, a probe capable of detecting three-axis force applied several combinations of horizontal and vertical forces to the tip of a columnar feeler of the tactile sensor. It was found that the equations were valid because the slope of horizontal force versus area-difference decreased with increasing vertical force. From experimental results, we determined the constants included in the equations.
一般社団法人日本機械学会の論文
1999-02-25