226 光導波形三軸触覚センサによる表面性状の獲得に関する研究(機械の知能化)

概要

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An optical three-axis tactile sensor is comprised of a silicone-rubber sheet, an acrylic plate, a CCD camera and a light source. A silicone-rubber sheet has an array of 8×9 sensor cells consisting of columnar feeler and 2-by-2 conical feelers. Since the reflectance of silicone-rubber is naturally low, the contact area between conical feelers and an acrylic plate cannot be accurately identified. Thus we developed a new silicone-rubber sheet with high reflectance by adding aluminum powder into pre-hardened silicone-rubber. In the experiments, we measured the sensitivity of the present sensor equipped aluminum powder doped silicone-rubber sheet. As a result, the sensitivity of the present tactile sensor was enhanced because clearness of contact contour caused identification of contact area to be more precise. Additionally, we developed a new sensing element to prevent detachment of conical feelers from the acrylic plate. It was found that sensing range of the new sensing element for horizontal force was enlarged to be 10 times comparing with the ordinal sensing element.
一般社団法人日本機械学会の論文
2001-03-23