Using Ultrasound for Measuring Grasping Force of Robot Soft Finger(<Special Issue>Advanced Manufacturing Technology)
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概要
- 論文の詳細を見る
This paper describes a study on the usage of ultrasound to measure the grasping force components when elastic fingers of a robot grasp an object. The ultrasonic sensor embedded in the soft finger accurately measures the echoes timing lag and amplitude that give information about the amount and directions of the grasping force components. The experimental results indicate good sensitivity of the proposed soft finger to both normal and tangential components of the grasping force.
- 一般社団法人日本機械学会の論文
- 2004-03-15
著者
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Tanaka Tomohisa
Graduate School Of Science And Engineering Tokyo Institute Of Technology
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Akbari Javad
Department Of Mechanical Engineering Sharif University Of Technology
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IMAMURA Mitsuhiro
Graduate School of Science and Engineering, Tokyo Institute of Technology
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SAITO Yoshio
Graduate School of Science and Engineering, Tokyo Institute of Technology
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Imamura Mitsuhiro
Graduate School Of Science And Engineering Tokyo Institute Of Technology
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Saito Yoshio
Graduate School Of Science And Engineering Tokyo Institute Of Technology
関連論文
- Using Ultrasound for Measuring Grasping Force of Robot Soft Finger(Advanced Manufacturing Technology)
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