عنوان مقاله :
طراحي و ساخت نمونه آزمايشگاهي انگشت ربات با قابليت حس لامسه
عنوان به زبان ديگر :
Robot fingertip with tactile sensation: design, fabrication and testing
پديد آورندگان :
ﻓﺮج اﻟﻬﯽ، ﻣﯿﺜﻢ داﻧﺸﮕﺎه ﻋﻠﻢ و ﺻﻨﻌﺖ اﯾﺮان - داﻧﺸﮑﺪه ﻓﻨﺎوري ﻫﺎي ﻧﻮﯾﻦ - ﮔﺮوه ﺳﯿﺴﺘﻢ ﻫﺎي اﻧﺮژي , ﭘﻮرﯾﺎي وﻟﯽ، ﺣﺎﻣﺪ داﻧﺸﮕﺎه ﺗﻬﺮان - داﻧﺸﮑﺪه ﻣﻬﻨﺪﺳﯽ ﻣﮑﺎﻧﯿﮏ , ﯾﻮﺳﻔﯽ ﮐﻤﺎ، ﻋﻘﯿﻞ داﻧﺸﮕﺎه ﺗﻬﺮان - داﻧﺸﮑﺪه ﻣﻬﻨﺪﺳﯽ ﻣﮑﺎﻧﯿﮏ
كليدواژه :
ﺣﺴﮕﺮ ﻻﻣﺴﻪ , ﻓﺸﺎر ﺳﯿﺎل , رﺑﺎت , اﻧﮕﺸﺖ رﺑﺎت , ﻟﻐﺰش
چكيده فارسي :
: ﺑﺎ ﭘﯿﺸﺮﻓﺖ ﺻﻨﻌﺖ رﺑﺎﺗﯿﮏ در دﻫﻪ ﻫﺎي اﺧﯿﺮ، ﯾﮑﯽ از اﯾﻦ ﺗﻮاﻧﺎﯾﯽ ﻫﺎ ﮐﻪ ﺗﺎ ﮐﻨﻮن ﮐﻤﺘﺮ ﺑﻪ آن ﺗﻮﺟﻪ ﺷﺪه وﻟﯽ از ﺿﺮوري ﺗﺮﯾﻦ ﺗﻮاﻧﺎﯾﯽ ﻫﺎي ﺑﺸﺮي اﺳﺖ، ﺣﺲ ﻻﻣﺴﻪ اﺳﺖ. ﺗﻮاﻧﺎﯾﯽ اي ﮐﻪ ﺑﻪ ﻫﯿﭻ وﺟﻪ ﺑﺎ دﯾﮕﺮ ﻗﺎﺑﻠﯿﺖ ﻫﺎ از ﺟﻤﻠﻪ ﭘﺮدازش ﺗﺼﻮﯾﺮ، ﺟﺒﺮان ﻧﻤﯽ ﺷﻮد. در اﯾﻦ ﻣﻘﺎﻟﻪ ﺑﻪ ﻃﺮاﺣﯽ و ﺳﺎﺧﺖ ﯾﮏ ﻧﻤﻮﻧﻪ ﺣﺴﮕﺮ ﻻﻣﺴﻪ ﺑﺎ ﻇﺎﻫﺮي ﺷﺒﯿﻪ ﺑﻪ ﺑﻨﺪ اﻧﮕﺸﺖ اﻧﺴﺎن اراﺋﻪ ﺷﺪه اﺳﺖ. اﯾﻦ اﻧﮕﺸﺖ از ﯾﮏ ﺑﺪﻧﻪ ﺻﻠﺐ داﺧﻠﯽ )اﺳﺘﺨﻮان( و ﯾﮏ ﭘﻮﺷﺶ ﻣﻨﻌﻄﻒ ﮐﺸﺴﺎن )ﭘﻮﺳﺖ( ﺳﺎﺧﺘﻪ ﺷﺪه اﺳﺖ. ﻓﻀﺎي ﻣﺎﺑﯿﻦ ﺑﺪﻧﻪ و ﭘﻮﺷﺶ ﺑﺎ ﯾﮏ ﺳﯿﺎل ﭘﺮ ﺷﺪه و ﺑﺎ ﯾﮏ ﻣﺠﺮا ﺑﻪ ﯾﮏ ﻓﺸﺎرﺳﻨﺞ راه ﻣﯽ ﯾﺎﺑﺪ. زﻣﺎﻧﯽ ﮐﻪ ﭘﻮﺳﺖ ﺑﻪ ﺟﺴﻢ ﺧﺎرﺟﯽ ﺗﻤﺎس ﭘﯿﺪا ﮐﻨﺪ، ﻣﺘﻨﺎﺳﺐ ﺑﺎ ﺷﺪت ﺗﻤﺎس، ﺗﻐﯿﯿﺮ ﺷﮑﻞ داده و ﺳﯿﺎل ﻣﺤﺒﻮس ﺗﺤﺖ ﻓﺸﺎر ﻗﺮار ﻣﯽ ﮔﯿﺮد. اﻓﺰاﯾﺶ ﻓﺸﺎر، ﺑﺎ ﺑﺎﻻ رﻓﺘﻦ وﻟﺘﺎژ ﺧﺮوﺟﯽ ﻓﺸﺎرﺳﻨﺞ ﻗﺮاﺋﺖ ﻣﯽ ﺷﻮد. ﺳﻄﺢ ﺧﺎرﺟﯽ ﭘﻮﺳﺖ داراي ﻃﺮح ﻫﺎي ﺑﺮﺟﺴﺘﻪ اﺳﺖ ﮐﻪ ﺑﻪ ﻫﻨﮕﺎم ﻟﻐﺰش ﭘﻮﺳﺖ ﺑﺮ روي ﺟﺴﻢ ﺧﺎرﺟﯽ ﺗﻮﻟﯿﺪ اﻣﻮاج ارﺗﻌﺎﺷﯽ در ﺳﯿﺎل ﻣﯽ ﮐﻨﺪ. ﺣﺴﮕﺮ ﺳﺎﺧﺘﻪ ﺷﺪه ﺗﻮاﻧﺴﺖ ﺗﺴﺖ ﻫﺎي ﺗﮑﺮار ﭘﺬﯾﺮي و ﺣﺴﺎﺳﯿﺖ را ﺑﻪ ﺧﻮﺑﯽ ﺑﮕﺬراﻧﺪ.
چكيده لاتين :
Recent progress in robotic industry has increased efforts on robot ability
enhancement to use them in factories and services instead of labors and human workers. One
of the important ability which plays an important role to reach this aim, is tactile sensation
which is not compensated by other ability including image processing. In this paper, a robot
fingertip with tactile sensation is designed and fabricated which has a configuration very
close to human fingertip for griping or other robotic applications. This fingertip consists of
rigid body and elastic flexible cover which the area between these two parts is filled with a
fluid which is connected to the pressure sensor. When the elastic cover which plays a skin
role, touch the external body, regarding to the speed and amplitude of touch, the reaction of
the cover is transferred to the fluid and also pressure sensor. Pressure sensor sense the
pressure change and convert this to the output voltage which is detectable by designed
electrical circuit. Outer layer of the elastic cover is corrugated to increase sensitivity of the
sensor. The fabricated tactile sensor was tested to verify its performance in different
experiments which was in good agreement with our expectation
عنوان نشريه :
مهندسي مكانيك
