机器人指端应变式触觉传感器

The Robotic Fingertip Tactile Sensor Based on Strain-gauge

叙述了机器人指端应变式触觉传感器的原理、分类和发展，介绍几种典型的机器人指端应变式触觉传感器，同时提出一种新型的机器人指端应变式触觉传感器，并对其工作原理进行详细说明．在传感器结构设计中采用合理结构，使被抓物体的横截面尺寸不受弹性薄板薄板尺寸限制；当超过测量范围时，保证金属薄板不受破坏，同时实现了柔顺抓握．

The principle, classification and development of robotic fingertip tactile sensor which use straingauge is discussed in details. Several typical robotic fingertip tactile sensors based on strain-gauge is introduced, meanwhile a new kind robotic fingertip tactile sensor based on strain-gauge is presented, and its work principle is explained thoroughly. Using proper construction, the size of the object's cross section, which is grasped bu the gripper, isn't limited by the size of the taetile thin metal plato; if the object overweight, then the thin metal plate is insured against damage, meanwhile, the more stable and compliant grasp can be realized.