ロボット用力計測センサに関する基礎的研究 : 第1報,光感応型半導体を用いた力・モーメント計測器の製作と基礎的実験

概要

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In this report, a new measurement method of force and moment for robot applications is shown with the evaluation of experimental results. The force and the moment can be measured by using the characteristic such that the photo-trans-missivity of the photo-semiconductor (CdInGaS_4) changes according to the pressure applied on the semi-conductor : as the light radiated from the transmitter reaches the photo-diode through the semiconductor under the pressure, the output of the receiver gives a magnitude of force. under an eccentric load applied on the sensor, as light rays from the luminous-diode inclines, moments can be computed by measuring the eccentric projection deviating from the center of the quadrant of the photo-diode receiver. The experimental results show that this photo-semiconductor can be used as a new type of sensor for force measurement of a robot hand.
社団法人日本機械学会の論文
1987-03-25