Output Characteristics of Photoelectric Slip Sensor Based on Micro-vibration Detection  

作　　者：SHANG Zhen-dong HAN Hong-biao DENG Xiao-zhong XU Xian-hong 

机构地区：[1]School of Mechatronics Engineering Henan University Of Science ＆ Technology, Luoyang 471003, CHN

出　　处：《Semiconductor Photonics and Technology》2007年第3期230-234,共5页半导体光子学与技术（英文版）

基　　金：National Natural Science Foundation of China(50475060)

摘　　要：In order to achieve the manipulator's soft grasp function, the key is to have slip sensors with fine performance. Depending on the elastomer and photoelectric elements installed in the hand, the sensor transforms the slippage between the grasped object and the robot's hand to electric signal, thus the slippage can be detected. It will cause elastomers' micro-vibration when the object is slippage. Based on the vibration theory, dynamic theory, light intensity theory and elastic deformation theory, derived is the conclusion that the object's slippage acceleration relativing to the robot's hand has linear relationship with the photoelectric elements' output voltage's differential, and then the model for slippage distinguishing is set up.In order to achieve the manipulator＇s soft grasp function, the key is to have slip sensors with fine performance. Depending on the elastomer and photoelectric elements installed in the hand, the sensor transforms the slippage between the grasped object and the robot＇s hand to electric signal, thus the slippage can be detected. It will cause elastomers＇ micro-vibration when the object is slippage. Based on the vibration theory, dynamic theory, light intensity theory and elastic deformation theory, derived is the conclusion that the object＇s slippage acceleration relativing to the robot＇s hand has linear relationship with the photoelectric elements＇ output voltage＇s differential, and then the model for slippage distinguishing is set up.

关 键 词：slip sensor ROBOT soft grasp 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置]