摘要
通过综合机器人领域中常见的接近觉和滑觉的结构特点,根据仿生学的原理,设计出一种同时具备接近觉和滑觉功能的触觉传感器,该传感器突出的特点是仅用一根触须就完成了接近觉传感器和滑觉传感器的双重功能,利用它可以监测机械手指与被抓物体之间是否产生滑动和分离的现象。对该系统进行了实验,验证了方法的正确性和有效性。
The characteristics of proximity sensation and slipping sensation are synthesized and a kind of tactile sensor with a function of proximity sensation and slipping sensation was designed on the basis of the principle of bionics. Its prominent feature is the dual function of proximity sensation and slipping sensation by the use of only one whisker. It can monitor whether sliding and separation phenomenon between mechanical fingers and the captured objects happen. The results demonstrated the validity of all the methods proposed in the dissrtation.
出处
《北京联合大学学报》
CAS
2008年第1期35-37,49,共4页
Journal of Beijing Union University
基金
北京市教育委员会计划项目(km200611417008)
关键词
接近觉
滑觉
胡须
传感器
结构
proximity sensation
slip sensation
whisker
sensor
structure
