板ばねを使用した６軸力覚センサの開発

• 村奈嘉 与一

  中央大学理工学部

• 松井 頼夫

  オリンパス光学工業株式会社

• 高橋 正和

  富士ゼロックス株式会社

• 木下 源一郎

  中央大学理工学部

書誌事項

タイトル別名

• Develpment of a Six-axis Force Sensor Employing a Plate Spring.

抄録

This paper describes a six-axis force sensor for robot manipulators, which consists of a cross-shaped plate spring formed from a 160 mm×160 mm beryllium-coper plate 1 mm thick. The plate spring is twisted through an angle of 90°at mid-point of each branch of the cross- shaped spring, so that it consists of eight flat springs aligned on two orthogonal axes. Six components of the force/torque vector acting on the end-effector are measured using strain gauges cemented on sixteen locations of the plate spring. Optimal locations of strain gauges are determined through the calculation of strairk distribution caused by each component of the force/torque vector. A simple setup for calibraition of the sensor, which consist of a pair of commercial linear guides, a pair of force indicating meters, and a pair of micrometer heads, is presented. Performance characteristics of the sensor are examined in detail.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 10 (2), 208-215, 1992

  一般社団法人 日本ロボット学会

キーワード

• Force Sensor
• Robot Sensor
• Cross-Shaped Plate
• Force Calibration
• Cross-Talk

詳細情報

• CRID: 1390001204726297600
• NII論文ID: 10006714809
• NII書誌ID: AN00141189
• DOI: 10.7210/jrsj.10.208
• ISSN: 18847145
• ISSN: 02891824
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可