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本文研究用于工业机械人自适应握紧操作的一种触觉传感器——气动滑动传感器。对传感器的静态特性和动态特性进行了理论分析和试验研究。经理论分析和一系列试验证明,该装置能根据物体的重量控制机械手以最小而必需的力来抓取不同材料的物体。
In this paper, a kind of tactile sensor, pneumatic sliding sensor, is studied for the adaptive grip operation of industrial robots. The static and dynamic characteristics of the sensor are analyzed theoretically and experimentally. Theoretical analysis and a series of experiments show that the device can control the robot to grasp different objects with the minimum and necessary force according to the weight of the object.