| 一种整体式力敏微型机械手 |
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| 引用本文： | 马奎. 一种整体式力敏微型机械手[J]. 工具技术, 2000, 34(8): 19-21 |
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| 作者姓名： | 马奎 |
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| 作者单位： | 同济大学中德学院,上海200092 |
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| 摘 要： | 介绍一种集成有二维力传感器的整体式微型机械手 ,并建立了该机械手的力学模型。该机械手由三组平行片簧构成 ,能同时测量抓取力和沿机械手轴向的装配力。检测结果表明 ,两个集成在机械手中的力传感器互不干涉。
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| 关 键 词： | 机械手 力敏机械手 力传感器集成 |
A Force Sensitive Microgripper with Monolithic Structure |
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| Ma Kui. A Force Sensitive Microgripper with Monolithic Structure[J]. Tool Engineering(The Magazine for Cutting & Measuring Engineering), 2000, 34(8): 19-21 |
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| Authors: | Ma Kui |
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| Abstract: | A monolithic microgripper is introduced and its mechanical model is established. Two force sensors are integrated in the microgripper, with the sensors both the grasp force and the assembly force can be measured. The microgripper contains three parallel spring groups. The first group is used for the support and guiding of grip fingers; the second and the third one, that are serial joined, are used for the measurement of the grasp force and the axial assembly force. The test result shows that there are no any disturbances between the two integrated force sensors. |
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| Keywords: | gripper force sensitive gripper force sensor integrated |
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