2P1-G16 ステッピングモータを利用した力覚検出の提案

概要

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We propose a sensing method to estimate viscoelasticity of measurement object using step-out of stepper motor. Applied force and velocity for the object are got from the motor characteristic curve. The variation of the object displacement with time is got from an encoder attached the motor. Substituting these values into Newton's equation of motion, we can obtain the viscoelasticity. We made a prototype and measured the relation between revolution speed and start torque of the motor. Elasticity of three coil springs was estimated by the sensing method. The estimated value compared to spring constant increased 7% in 39[N/m], 3% in 57[N/m] and twice times in 147[N/m].
一般社団法人日本機械学会の論文