把持力制御のための曲面状ひずみ分布センサの開発 : 十字状ひずみゲージ配列を有する球面状センサによる任意方向把持力制御(機械力学,計測,自動制御)

概要

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A two axial finger-shaped sensor is developed for controlling grasping force so that an object is lifted with appropriate grasping force at any grasping direction. It consists of silicone rubber having spherical surface and strain gauges arranged in two perpendicular axes. First, the relationship between stick area and the internal strain distribution of the sensor are calculated using FE (finite element) analysis when the sensor is in contact with an object. It is necessary to detect the shear strain distributed in the sensor in order to grasp the object with appropriate force. Then, the method for estimating stick area of the sensor is proposed using FE analysis. Finally, the grasping force control is achieved using the constructed system. It is shown that arbitrary objects with various weight and friction coefficients are lifted using the developped sensor and control method.
社団法人日本機械学会の論文
2004-01-25