Sensors, Focus on Tactile, Force and Stress Sensors 2011 Part 5

Tham khảo tài liệu 'sensors, focus on tactile, force and stress sensors 2011 part 5', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Optical Three-axis Tactile Sensor for Robotic Fingers 111 shearing force Fs applied to the sensing elements are calculated using the following formulas when force F is applied to the tip of the tactile element Fig. 9. Generation of shearing force component Fn F cos Ỡ Fs F sin Ỡ . 7 8 To show that under combined loading condition normal force component was independently obtained with Eq. 3 we applied inclined force to the tip of the tactile element to examine the relationship between the normal component of applied force obtained by Eq. 7 and integrated grayscale value. Figure 10 displays the relationship for Fig. 10. Relationship between integrated grayscale value and applied normal force at several inclinations 112 Sensors Focus on Tactile Force and Stress Sensors No. 0. Even if the inclination is varied from -30 to 30 the relationship coincides within a deviation of . Therefore the relationship between the normal component of applied force and the integrated grayscale value is independent of inclination 0 . Fig. 11. Relationship between centroid displacement and applied shearing force Fig. 12. Precision of two-dimensional shearing force detection Optical Three-axis Tactile Sensor for Robotic Fingers 113 Sensing shearing force When force is applied to the tip of the sensing element located in the parietal region under several 0 s the relationships between the displacement of the centroid and the shearingforce component calculated by Eq. 8 are obtained as shown in Fig. 11. Although the inclination of the applied force is varied in a range from 15 to 60 the curves converge into a single one. Therefore the applied shearing force is obtained independently from centroid displacement. When the tactile element accepts directional forces of 45 135 225 and 315 centroid trajectories are shown in Fig. 12 to examine shearing force detection under various directions except for the x- and y-directions. If the desired trajectories shown in Fig. 12 are compared to the .

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