Sensors, Focus on Tactile, Force and Stress Sensors 2011 Part 12

Tham khảo tài liệu 'sensors, focus on tactile, force and stress sensors 2011 part 12', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Development of a Humanoid with Distributed Multi-axis Deformation Sense with Full-Body Soft Plastic Foam Cover as Flesh of a Robot 321 adjustment in shape and slits is adopted. Bases of limbs were divided thickness around joints were designed to be thin. 4. Implementation of distributed multi-axis deformation sense Inside the soft exterior parts on the surface of internal mechanical frame forty nine three-axis capacitance-type force torque sensors PD3-32-05-15 40 80 NITTA Corp. are embedded . Disk-shaped parts are screwed to force-sensitive sticks. When the soft exterior parts are pushed stress is applied to the disk-shaped parts then the sensors output voltages associated with z-axis force and x y-axis torque . This sensor is not so small diameter 18 mm thickness mm but it is possible to embed this sensor inside the thick cover. If the external force includes shearing components stress on the disk slants then x-axis torque and y-axis torque applied to the disk are detected. Soft exterior parts as tactile sensors have spatially interpolating characteristics therefore there is availability that force detecting disks need not necessarily large enough to cover the entire area of robot s surface. Fig. 3. Forty-nine three-axis force torque sensors embedded inside the flesh. Fig. 4. Sensors are embedded in the polyurethane foam. Thicknesses of polyurethane foam varies from about 2 mm to 60 mm . The bottom face of the sensor is screwed shut to shell of robot skeleton. 322 Sensors Focus on Tactile Force and Stress Sensors 5. Implementation to a humanoid robot We have designed internal mechanical structure of the robot so that it has enough space to wear thick cover and joint movability. Its actuators and the sensors except tactile sensors are reused from a commercially available humanoid robot HOAP-1 Fujitsu automation Corp. . Its height is about 700 mm weight is about kg . Average thickness of soft cover is approximately 25 mm . Specifications of the

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