1107 高分解能センサを用いた接触解析及び滑り検知(GS-10.13 運動の高精度計測)

概要

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In this study, the tactile sensor, which has 12 sensor elements that can detect vertical force and shear force arranged in the 15mm×20mm area on the same plane, was developed. Because the sensor can detect vertical force and shear force simultaneously and measure the action force in the form of distribution stress, it would be possible to obtain simple geometrical information and detect the linear slip. With the quintuple prototype sensor based on the strain gauge, basic performance of each sensor element was investigated, hi this paper the method of mutual interaction correction for the each sensor element and the contact algorithm was proposed. Then the correction and the simulation were carried out with above method. As a result, the validity of the output of each sensor element and the algorithm was confirmed.
社団法人日本機械学会の論文
2004-03-17