ロボット用力計測センサに関する基礎的研究 : 第3報,光感応形半導体を用いたねじりモーメント計測機能を有する力計測センサ

概要

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This report deals with a new measurement method of the force and the moment of a robot application. The one component of the force and the three components of the moment can be measured by using the characteristic such that the phototransmissivity of the photosemiconductor (CdInGa 4) changes according to the pressure applied to the semiconductor. When the light radiate from the transmitter reaches the quadrant photo diode through this semiconductor, the output of the receiver gives the magnitude of the force. To measure the moment applied to the sensor, the light rays from the luminous diode reach the quadrant photo diode rectangular window, and the torsional angle of the projection of the rectangular window on the quadrant photo diode is used. The experimental results show that this photo semiconductor can be used as a new type of sensor for the force measurement of a robot hand, and the force and the moment can be measured without interference from each other.
社団法人日本機械学会の論文
1989-09-25