DocumentCode :
1580505
Title :
Optimized design method of three-axis force sensor for robot fingers
Author :
Oshima, Hiroko ; Tsujiuchi, Nobutaka ; Koizumi, Takayuki ; Hayashi, Yuichiro ; Ito, Akihito ; Tsuchiya, Youtaro
Author_Institution :
Doshisha Univ., Kyotanabe, Japan
fYear :
2009
Firstpage :
700
Lastpage :
705
Abstract :
A structural optimization method of a three-axis force sensor for robot fingers is proposed. To achieve dexterous hands like human hands, it is important to measure the forces loaded on robot fingers. We have been developing three-axis force sensors that can detect three-axis forces simultaneously with strain gauges. This sensor is small and can be produced inexpensively. However, because the proposed sensor has been newly devised, there is neither a design basis for it nor an accumulation of know-how. Therefore, we suggest a method to optimize the sensor structure using design of experiments and finite element analysis. In the proposed method, the approximated expressions of the objective function and the constraints are generated by the response surface method and FEA. The sequential quadratic programming method is used to optimize the design variables. As a result, a force sensor is designed the robot fingers that is more effective than the prototype sensor, and the effectiveness of the proposed method is verified.
Keywords :
design of experiments; dexterous manipulators; finite element analysis; force control; force sensors; manipulator dynamics; quadratic programming; response surface methodology; design of experiment; dexterous hand; finite element analysis; optimized design method; response surface method; robot finger; sequential quadratic programming; strain gauge; structural optimization; three-axis force sensor; Capacitive sensors; Design methodology; Design optimization; Fingers; Force measurement; Force sensors; Humanoid robots; Humans; Optimization methods; Robot sensing systems;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2009 IEEE International Conference on
Conference_Location :
Guilin
Print_ISBN :
978-1-4244-4774-9
Electronic_ISBN :
978-1-4244-4775-6
Type :
conf
DOI :
10.1109/ROBIO.2009.5420587
Filename :
5420587
Link To Document :
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