Development and Application of a Tandem Force Sensor

被引：3

作者：

Zhang, Zhijian ^{[1
]}

Chen, Youping ^{[1
]}

Zhang, Dailin ^{[1
]}

机构：

[1] Huazhong Univ Sci & Technol, Sch Mech Sci & Engn, State Key Lab Digital Mfg Equipment & Technol, Wuhan 430074, Peoples R China

来源：

SENSORS | 2020年 / 20卷 / 21期

基金：

美国国家科学基金会;

关键词：

tandem force sensor; traction force sensor; human– robot interaction; contact task; imitation learning; GUIDANCE;

D O I：

10.3390/s20216042

中图分类号：

O65 [分析化学];

学科分类号：

070302 ; 081704 ;

摘要：

In robot teaching for contact tasks, it is necessary to not only accurately perceive the traction force exerted by hands, but also to perceive the contact force at the robot end. This paper develops a tandem force sensor to detect traction and contact forces. As a component of the tandem force sensor, a cylindrical traction force sensor is developed to detect the traction force applied by hands. Its structure is designed to be suitable for humans to operate, and the mechanical model of its cylinder-shaped elastic structural body has been analyzed. After calibration, the cylindrical traction force sensor is proven to be able to detect forces/moments with small errors. Then, a tandem force sensor is developed based on the developed cylindrical traction force sensor and a wrist force sensor. The robot teaching experiment of drawer switches were made and the results confirm that the developed traction force sensor is simple to operate and the tandem force sensor can achieve the perception of the traction and contact forces.

引用

页码：1 / 24

页数：25

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