Affiliation:
1. Shandong Jianzhu University
2. Shandong Provincial Architectural Design Institute
Abstract
In this paper, we present a new mathematical model of three-axis force sensor for underwater robot fingers. We designed a kind of sensor based on this model which has a simple structure and can be miniaturized easily. By this model, they can be calculated that the magnitude, direction of finger force. Moreover, we present a new compensating method to decrease the error caused with the variation of temperature and pressure of water and caused with bending of the beams by symmetrical electronic circuits. We proposed compensation block method to solve the problem of heavy lead wire which affecting finger moving in underwater. Finally, an experiment is performed to verify the proposed model.
Publisher
Trans Tech Publications, Ltd.
Reference4 articles.
1. David M. Lane, J. Bruce C. Davies., et al.: The AMADEUS Dextrous Subsea Hand: Design, Modeling, and Sensor Processing, IEEE Journal of Oceanic Engineering , Vol. 24, No. 1, January 1999..
2. Ynjian Ge, Guotai Wang, New Style Six-axis Force Sensor for Ocean Research. Journal of Sensor World, Vol. 15. No. 2, (2004) p.20.
3. N. Saito, T. Satoh, S. Kajikawa, and H. Okano: Development of Four-Axis Contact Force Sensor with a Flexible Contact Part. IEEJ Trans. SM, Vol 125, No. 1, pp.7-14(2005).
4. Kiyoshi Nagai, Eyuichiro Dake: Development of a Four DOF High Speed Parallel Mechanism Based on Virtual Force Redundancy Concept. Journal of the Robotics Society of Japan. 2010. 2. 8. P. 344-349.