A NOVEL, COMPLIANT, 4-DEGREE-OF-FREEDOM, ROBOTIC FINGERTIP SENSOR

被引：2

作者：

LORENZ, RD

MEYER, KM

VANDERIET, DM

机构：

[1] TECH UNIV BERLIN,INST WERKZEUGMASCHINEN & FERTIGUNGSTECH,W-1000 BERLIN 10,GERMANY

[2] HERMAN MILLER INC,DIV CUSTOM PROD,ZEELAND,MI 49464

[3] UNIV WISCONSIN,DEPT ELECT & COMP ENGN,MADISON,WI 53706

来源：

IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS | 1990年 / 26卷 / 04期

关键词：

D O I：

10.1109/28.55983

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

This paper presents a novel, low-cost, compliant fingertip sensor for robotic gripper applications. The fingertip sensor is intended for use in grippers where force feedback information is needed, such as in clean room or space applications where telerobotic operation is desired. The fingertip is approximately the size of a male, adult thumb and is approximately as compliant as human flesh. The sensor was designed to optimize the sensitivity to four components of force/ torque: the normal force, both tangential force terms, and the torque about the normal axis. Finite element analysis was used to optimize the shape of the fingertip and the location/ size of the PVDF film piezoelectric sensing elements. The paper presents the design analysis and experimental results from evaluation of the prototype robot fingertip sensors. © 1990 IEEE

引用

页码：613 / 619

页数：7