杨磊, 高晓辉, 姜力, 刘宏. 微型五维指尖力/力矩传感器的研究[J]. 机器人, 2003, 25(2): 143-146.
引用本文: 杨磊, 高晓辉, 姜力, 刘宏. 微型五维指尖力/力矩传感器的研究[J]. 机器人, 2003, 25(2): 143-146.
YANG Lei, GAO Xiao-hui, JIANG Li, LIU Hong. RESEARCH ON MINIATURE FIVE DOF FINGERTIP FORCE/TORQUE SENSOR[J]. ROBOT, 2003, 25(2): 143-146.
Citation: YANG Lei, GAO Xiao-hui, JIANG Li, LIU Hong. RESEARCH ON MINIATURE FIVE DOF FINGERTIP FORCE/TORQUE SENSOR[J]. ROBOT, 2003, 25(2): 143-146.

微型五维指尖力/力矩传感器的研究

RESEARCH ON MINIATURE FIVE DOF FINGERTIP FORCE/TORQUE SENSOR

  • 摘要: 本文介绍了一种新型用于多指灵巧手的微型五维指尖力/力矩传感器.该传感器采用了高度集成式弹性体结构;应用最小二乘理论实现了传感器的静态标定.微型指尖力/力矩传感器的成功研制为具有感知功能的机器人灵巧手的研究奠定了基础.

     

    Abstract: The paper presents a new miniature five DOF force/toque sensor for multi-finger dexterous hand, and a highly integrated structure for the elastomer is used in the sensor. The static calibration of the sensor is implemented by using the least square theory. The successful design of the miniature fingertip force/torque sensor is the basis of the research on multisensory dexterous robot hand.

     

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