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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    Title :

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


    Contributors:
    Liang, Qiaokang (author) / Zhang, Dan (author) / Song, Quanjun (author) / Ge, YunJian (author)

    Published in:

    Publication date :

    2010


    Size :

    10 Seiten, 17 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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