多度自由力传感器集成到软机器人抓手中,以提高抓取稳定性
Heeju Mun1, David Santiago Diaz Cortes1, Jung-Hwan Youn1,2
1Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Republic of Korea.
Soft robotics
|April 1, 2024
概括
这项研究引入了一种用于软机器人抓手的新型光学力传感器,可实现精确的抓手控制和物体滑落检测. 这一创新增强了微妙的操纵任务的掌握稳定性.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 材料科学 材料科学 材料科学
- 传感器技术 传感器技术
背景情况:
- 软的机器人抓手提供了多功能物体操纵,但需要精确的力量控制,以轻松地处理.
- 现有的抓器往往缺乏集成的,强大的力传感能力,限制了它们在敏感任务中的应用.
- 准确的力反对于防止脆弱物体受损和抓取时滑动至关重要.
研究的目的:
- 开发和整合一个新的三度自由度 (3-DOF) 光力传感器到软机器人抓手中.
- 为了实现稳定的抓取与实时力反和滑动检测.
- 为了创建一个具有成本效益,坚固,和电磁免疫感应解决方案,用于柔软的抓手.
主要方法:
- 将轻量级,紧的光纤整合到软抓柄结构中.
- 使用基于接触的光损失传感机制来测量力.
- 用光纤将抓器内化,用于传感和结构增强.
主要成果:
- 展示了一个强大的3-DOF光学力传感器,漂移率低 (在9000个周期中<0.1%).
- 成功地将传感器集成到柔软的气动曲抓手中.
- 在抓住各种物体 (包括磁性材料) 时,实现了有效的滑动检测和握力反.
结论:
- 开发的光学力传感器提供了一个稳定可靠的解决方案,以提高软机器人抓器的抓稳定性.
- 传感器的设计具有成本效益,耐用性,并且不受电磁干扰的影响.
- 这项技术可以实现精确的力控制和滑动检测,这对于处理微妙或有价值的物品至关重要.
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