流体压力传感策略 适合吞软抓手
Mingge Li1, Wenxi Zhang1, Quan Liu1
1The School of Mechanical Engineering, University of Science and Technology Beijing, Beijing 100083, China.
Sensors (Basel, Switzerland)
|February 13, 2026
概括
这项研究引入了一种用于软抓手的新型传感方法,使用内部流体压力变化来检测物体形状和尺寸. 这使得形状适应式抓手能够实现感觉抓取,以改善对象操纵.
科学领域:
- 机器人和自动化 机器人和自动化
- 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:
- 柔软的抓手提供高适应性,用于各种物体处理.
- 将传感器集成到符合标准的软抓柄中仍然是一个重大挑战,原因是材料的特性.
- 之前的工作建立了一个吞类型的软抓手设计.
研究的目的:
- 开发一种用于吞类型软抓手的感应能力.
- 为了利用内部流体压力变化来感知物体.
- 为了使形状适应的软抓手能够进行感官抓取.
主要方法:
- 根据密封腔的几何配置推导出一个体积-压力变化传感模型.
- 在吞过程中利用物体对密封腔的压缩来改变内部流体压力.
- 确定了物体相互作用和流体压力变化之间的关系.
主要成果:
- 证明了流体压力传感方法的性能.
- 在闭环控制系统中成功应用传感策略.
- 使用抓手实现了对象按形状分类和按大小分类.
结论:
- 开发的流体压力传感方法使吞型软抓手能够感知物体信息.
- 这种方法提供了一个可行的解决方案,用于形状适应软抓柄的感觉抓取.
- 这项研究推动了传感能力的集成到符合规范的机器人终端效应器中.
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