具有应变式触觉传感器的机器人柔顺指端  

Robotic compliant fingertips possessing strain typed tactile sensor

作　　者：戴士杰[1] 岳宏[1] 王仲民[1] 李德仲[1] 

机构地区：[1]河北工业大学机器人及自动化研究所,天津300130

出　　处：《机械设计》2001年第4期20-23,共4页Journal of Machine Design

基　　金：国家自然科学基金项目! (694850 0 7)

摘　　要：针对机器人抓握处于重力场中的等截面均质杆件操作 ,提出一种具有应变式触觉传感器的机器人柔顺指端的结构。在机器人平行抓握手爪中 ,利用金属弹性薄板做弹性元件 ,应变片做触觉敏感单元 ,实现对物体的长度和质量的感知 ;在指端的表面封装电流变流体实现软 /硬抓握。另外 ,着重讨论了抓握系统的传感原理。试验表明 ,这种机器人指端具有良好的识别能力和稳定抓握能力。Aimed at the operation of grasping a uniform sectioned and even massed bar by a robot situated in gravitational field this paper put forward a kind of structure of robot′s compliant fingertips,possessing strain typed tactile sensor.In the gripper of robot's parallel grasping the perception on length and mass of an object is realized by utilizing metal elastic sheet as elastic element and using strain slice as tactile sensor.The electrorheologic fluids are sealed in the fingertips to achieve soft and hard grasping.Moreover,the sensory principle of grasping system is being discussed emphatically.The experimental results indicated that the fingertips of this kind of robot possess good discriminative ability and stable grasping capability.

关 键 词：触觉传感器 电流变流体 机器人 手斥 应变片 柔性指端 

分 类 号：TP242.61[自动化与计算机技术—检测技术与自动化装置]