| 水下机器人手爪力感知系统研究 |
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| 引用本文： | 邱联奎,雷建和,宋全军,余永,葛运建.水下机器人手爪力感知系统研究[J].传感技术学报,2006,19(4):1152-1156. |
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| 作者姓名： | 邱联奎 雷建和 宋全军 余永 葛运建 |
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| 作者单位： | 中国科学院合肥智能机械研究所,合肥,230031;中国科学技术大学自动化系,合肥,230027;中国科学院合肥智能机械研究所,合肥,230031 |
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| 基金项目： | 国家高技术研究发展计划(863计划)，国家自然科学基金 |
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| 摘 要： | 提出了一种水下机器人手爪力感知系统的组成结构,该力感知系统由一个六维力/力矩传感器和三指夹持器指端的三个指力传感器组成,本文介绍了上述两种传感器的设计和标定,并对利用该手爪系统抓取物体进行了实际测试和分析,实验结果表明;所设计的力感知系统能够实时地感知腕力和夹持力信息,可以满足机械手力控制的需要.
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| 关 键 词： | 六维力/力矩传感器 指力传感器 水下机器人手爪 |
| 文章编号： | 1004-1699（2006）04-1152-05 |
| 收稿时间： | 2005-10-06 |
| 修稿时间： | 2005年10月6日 |
Research on Force Sensing System for an Underwater Gripper |
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| QIU Lian-kui,LEI Jian-he,SONG Quan-jun,YU Yong,GE Yun-jian.Research on Force Sensing System for an Underwater Gripper[J].Journal of Transduction Technology,2006,19(4):1152-1156. |
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| Authors: | QIU Lian-kui LEI Jian-he SONG Quan-jun YU Yong GE Yun-jian |
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| Affiliation: | 1. Institute of Intelligent Machines, Chinese Academy of Science, Hefei 230031, China ; 2. Dept. of Automation ,University of Science and Technology of China, Hefei 230027, China |
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| Abstract: | A force sensing system for an underwater gripper is proposed. This force sensing system consists of a six axis force/torque sensor and three fingertip force sensors which are tipped on the three-finger-gripper respectively. The methods of design and calibration of six axis force/torque sensor and fingertip force sensors are described. The acceptable performances of the force sensing system are verified through experiments. |
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| Keywords: | six axis force/torque sensor fingertip force sensor underwater gripper |
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