ロボット用力計測センサに関する基礎的研究 : 第2報,感圧形導電性ゴムを用いた力・モーメント計測器の製作と基礎的実験

概要

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A measurement method of force and moment for robot applications is presented in this paper as a force sensor with evaluation results of grasping experiments. The sensor for measuring force and moment consists of quadrangularly located electro-conducting rubbers, where the rubber is selected to have less hysterisis in the range of linearity. The rubber is so thin that it can be installed in a jaw-type robot hand. The force and moment can be measured by using the characteristics such that the electic resistance of the rubber changes according to the pressure applied on the surface of the rubber and moments can be calculated from the quadrant outputs due to the changes in resistances, when the hand grasps an object. Therefore, from the sensor outputs, it can be recognized where an object is held in the hand. Some experimental results are shown by grasping objects.
一般社団法人日本機械学会の論文
1987-06-25