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| 基于CAN总线的微型灵巧手指力传感器研究 | |
| 引用本文： | 孙 建,杨卫超,邓小红,沈煌焕,朱 旻,葛运建,余 永.基于CAN总线的微型灵巧手指力传感器研究[J].传感技术学报,2007,20(11):2377-2381. |
| 作者姓名： | 孙 建 杨卫超 邓小红 沈煌焕 朱 旻 葛运建 余 永 |
| 作者单位： | 1. 中国科技大学,自动化系,合肥,230027 2. 中科院,合肥智能机械研究所,合肥,230031 3. 日本鹿尔岛大学,机械工程系,日本鹿尔岛,890-0065;中科院,合肥智能机械研究所,合肥,230031 |
| 摘 要： | 设计一种用于多指灵巧手的实用微型三维指力传感器.该传感器采用类双E型膜片的高度集成式弹性体结构;对该指力传感器的弹性体结构、测量电路、上下位机软件和CAN总线通讯协议进行了设计,并对传感器标定数据进行分析;实验结果表明,该传感器设计理论和设计过程正确,并且具有一定的实用价值,为具有感知功能的机器人灵巧手的研究奠定了基础. |
| 关 键 词： | 指力传感器 双E型膜片 灵巧手 CAN总线 |
| 文章编号： | 1004-1699(2007)11-2377-05 |
| 修稿时间： | 2007年2月7日 |
Research on Miniature Fingertip Force Sensor for Robot finger Based on CAN BUS |
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| SUN J ian,YA N G Weichao,D EN G Xiaohong,S H EN Huanghuan,Z HU Min,GE Yunj ian,YU Yong.Research on Miniature Fingertip Force Sensor for Robot finger Based on CAN BUS[J].Journal of Transduction Technology,2007,20(11):2377-2381. | |
| Authors: | SUN J ian YA N G Weichao D EN G Xiaohong S H EN Huanghuan Z HU Min GE Yunj ian YU Yong |
| Affiliation: | 1. I nsti tue of I ntel li gent Machines Chinese Academy of Sciences2. Dept. of A utomation ,Unuversit y of Science and Technology of Ch3. Dept. of Mechanical Engineering Kagoshima Universit y |
| Abstract: | This paper describes the innovation of a new practical three-dimension fingertip force sensor applied to robot fingers. The basic physical feature of this sensor is double metallic slice of E-Film structure, which is a kind of high integration type of flexible body structure. Its measuring circuit, software in both top and bottom computer, and CANBUS communication protocol are designed and analyzed as well as its calibration. The experiment results demonstrate the correct design and active function in application. This miniature fingertip sensor tested by plenty of experiments will contribute much to the research on multisensory dexterous robot hand. |
| Keywords: | fingertip sensor double metal slice of E figure structure dexterous robot hand CANBUS |
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