The latest generation of underwater robots employ manipulators without force sensors. Accordingly, this paper presents a novel 4-D fingertip force sensor based on an E-type membrane for underwater robot manipulators. Specifically, this sensor is aimed at obtaining the accurate interaction force between underwater robot manipulators and other objects. Moreover, a seal technique and natural pressure compensation for the sensor are also described. The experimental results demonstrate strong linearity, high sensitivity, and weak couplings.


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    Titel :

    A potential 4-D fingertip force sensor for an underwater robot manipulator


    Beteiligte:
    Liang, Qiaokang (Autor:in) / Zhang, Dan (Autor:in) / Song, Quanjun (Autor:in) / Ge, YunJian (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    2010


    Format / Umfang :

    10 Seiten, 17 Quellen




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch




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