Abstract
In this study we develop a strain distribution sensor to lift a object by fingers without producing whole slip or applying excessive force even when the weight and the friction coefficient of the object are unknown. Strain gages bonded on thin plates are arranged at even intervals inside an elastic finger having curved surface made of silicone rubber. Geometry of the elastic finger is designed by calculating the contact condition between the finger and a plate with/without tangential load using a FE (finite element) analysis. We also measured the characteristics of the strain distribution sensor. Results show that the grip force can be controlled using the designed strain distribution sensor.
| Original language | English |
|---|---|
| Pages (from-to) | 4264-4270 |
| Number of pages | 7 |
| Journal | Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C |
| Volume | 64 |
| Issue number | 627 |
| DOIs | |
| Publication status | Published - 1998 |
| Externally published | Yes |
Keywords
- Contact Problem
- Control
- Finite Element Method
- Friction
- Tactile Sensor
- Tribology
ASJC Scopus subject areas
- Mechanics of Materials
- Mechanical Engineering
- Industrial and Manufacturing Engineering