新型机器人指端应变式触觉传感器研究

Research on a Novel Robotic Fingertip Tactile Sensor Based on Strain-gauge

讨论了应变式传感器的原理和分类．针对测量处于重力场中的等截面均质杆件的长 度和质量，设计了一种新型的机器人指端应变式触觉传感器，详细说明了该传感器的测量 原理．同时；进行自由体平衡的分析，确定解决这个问题的物理量．在弹性薄板的边界条 件为一对边固定支撑，另一对边简单支撑的情况下，给出了弹性薄板的理论解公式．最后 进行了抓握实验研究；抓握实验结果说明这种传感器性能可靠，测量精度高．

The tactile sensor is a kind of key technology to realize the robotic intelligence. The principle and classification of the sensor which use strain-gauge is discussed in details. Considering the measurement of the rod's length and mass in the gravitational field, Which has the same cross section and linear density, a novel kind of robotic fingertip strain-gauge tactile sensor is designed. The measurement principle of this tactile sensor was explained in details. Meanwhile, a free-body equilibrium analysis was performed, which determined the physical components in order to solve the question. The theoretical solution of the elastic thin plate is given. The boundary conditions of the sensor plate are one pair of fixed supported edges and one pair of simply supported edges. The experiments on grasping capability are performed. The results of the experiments showed that this tactile sensor has good reliability and high accuracy.