333 ロボットハンドの指の腹に装着可能な薄型4軸力覚センサの性能評価

概要

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Multi-axis force/moment sensor can measure force and moment is helpful for robotic force control. But the smallest multi-axis force/moment sensor has oversized height and worsens the stability of tasks. So it is expected to develop thin type multi-axis force/moment sensor enables robot hand to grasp object as if it were human. Therefore, we aim to develop thin type four-axis force/moment sensor can be mounted to finger cushion direction in this study. We obtained sufficient sensitivities concerning each axial direction as a result of sensitivity evaluation being based on finite element analysis and characteristic test applied determined positions putting strain gauges.
社団法人日本機械学会の論文
2008-09-02