TY - GEN
T1 - Fingertip force/torque sensor with high isotropy and sensitivity for underwater manipulation
AU - Liang, Qiaokang
AU - Zhang, Dan
AU - Chi, Zhongzhe
AU - Ge, Yunjian
PY - 2010
Y1 - 2010
N2 - Control strategies for robotic manipulators in underwater applications are still immature compared with the strategies of the manipulators on land. Part of the reason is that there is no precise force/torque information, which is essential to the closeloop control. Unlike the sensor applied on the ground, the sensors for underwater applications have to endure the highpressure, low-temperature and corrosive environment. Therefore, aimed at obtaining the accurate interaction force/torque between underwater robot manipulators and objects, a novel four-dimensional fingertip force sensor is presented based on e-type membrane for underwater robot manipulators. A seal technique is described. Experimental results demonstrate the design could detect force/torque with good linearity, high sensitivity and weak couplings.
AB - Control strategies for robotic manipulators in underwater applications are still immature compared with the strategies of the manipulators on land. Part of the reason is that there is no precise force/torque information, which is essential to the closeloop control. Unlike the sensor applied on the ground, the sensors for underwater applications have to endure the highpressure, low-temperature and corrosive environment. Therefore, aimed at obtaining the accurate interaction force/torque between underwater robot manipulators and objects, a novel four-dimensional fingertip force sensor is presented based on e-type membrane for underwater robot manipulators. A seal technique is described. Experimental results demonstrate the design could detect force/torque with good linearity, high sensitivity and weak couplings.
UR - http://www.scopus.com/inward/record.url?scp=80054980195&partnerID=8YFLogxK
U2 - 10.1115/DETC2010-28280
DO - 10.1115/DETC2010-28280
M3 - Conference article published in proceeding or book
AN - SCOPUS:80054980195
SN - 9780791844120
T3 - Proceedings of the ASME Design Engineering Technical Conference
SP - 743
EP - 752
BT - ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2010
T2 - ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2010
Y2 - 15 August 2010 through 18 August 2010
ER -