2024-03-29T10:53:36Z
https://nagoya.repo.nii.ac.jp/oai
oai:nagoya.repo.nii.ac.jp:00007381
2023-01-16T03:52:44Z
320:321:322
An Experimental Optical Three-Axis Tactile Sensor for Micro Machines
光学式マイクロ三軸触覚センサの試作
大岡, 昌博
20538
OHKA, Masahiro
20539
東岡, 制
20540
HIGASHIOKA, Isamu
20541
壁下, 寿登
20542
KABESHITA, Hisanori
20543
三矢, 保永
20544
MITSUYA, Yasunaga
20545
Mechatronics and Robotics
Sensor
Optical Measurement
Tactile
Three-Axis
Optical Waveguide
Micro Machine
Micro-scope
Typed Robot
This paper described a micro optical three-axis tactile sensor capable of sensing not only vertical force but also horizontal force. The vertical force was detected from the integrated gray scale values of bright pixel emitted from the contact area of conical feelers. The conical feelers were formed on the rubber sheet surface keeping contact with an optical waveguide plate. The horizontal force was detected from the horizontal displacement of the conical feelers. In the experiments, a precise multi-axial loading machine was developed to measure sensing characteristics of the present sensor. It was found that the vertical force was specified uniquely under combined force conditions and that the horizontal force was specified by modifying the relationship between the horizontal force and the horizontal displacement on the basis of vertical force. From the experimental results calibration coefficients were identified to transform the integrated of gray scale values into vertical force and to transform the horizontal displacement into the horizontal force.
journal article
日本機械学会
2000-10
application/pdf
日本機械学會論文集 C編
650
66
3344
3351
http://hdl.handle.net/2237/9062
0387-5024
https://nagoya.repo.nii.ac.jp/record/7381/files/JsMecEngC_66-650-3344.pdf
jpn
http://ci.nii.ac.jp/naid/110002383389/
日本機械学会
本文データは学協会の許諾に基づきCiNiiから複製したものである。