scholarly journals Design of robot finger based on flexible tactile sensor

2019 ◽  
Vol 16 (5) ◽  
pp. 172988141987985 ◽  
Author(s):  
Zhijie Tang ◽  
Zhen Wang ◽  
Jiaqi Lu ◽  
Gaoqian Ma
Keyword(s):  
Control System ◽  
Silicone Rubber ◽  
Processing System ◽  
Tactile Sensor ◽  
Robot Hand ◽  
Feedback Data ◽  
Gripping Force ◽  
Conductive Silicone Rubber ◽  
Hysteresis Characteristics ◽  
Dexterous Robot Hand

In this article, a flexible tactile sensor that made of conductive silicone rubber for dexterous robot hand is designed. The tactile sensor is made up of four microsensors. The maximum gripping force is simulated when the degree of a robot finger joint is 138. Meanwhile, a control system to analyze the creep and hysteresis characteristics and a processing system of the tactile sensor is designed. We also demonstrated an experiment for the application of robot grasp object, showing the finger’s flexibility and sensitivity. Then the feedback data is sent to control system to provide precise grasp action changes for the robot hand.

Development and control of a multifingered robotic hand using a pneumatic tendon-driven actuator

2011 ◽  
Vol 23 (3) ◽  
pp. 345-352 ◽  
Author(s):  
Jun-Ya Nagase ◽  
Norihiko Saga ◽  
Toshiyuki Satoh ◽  
Koichi Suzumori
Keyword(s):  
Control System ◽  
Silicone Rubber ◽  
Japanese Population ◽  
Human Hand ◽  
Robotic Hand ◽  
Robot Hand ◽  
Young Workers ◽  
Robot Hands ◽  
Soft Objects ◽  
And Control

Because of the rapid aging of the Japanese population and the acute decrease in young workers in Japan, robots are anticipated for use in performing rehabilitation and daily domestic tasks for nursing and welfare services. Use in environments with humans, safety, and human affinity are particularly important robot hand characteristics. Such robot hands must have flexible movements and be lightweight. Under these circumstances, this study specifically addresses the expansion of a silicone rubber, tendon-driven actuator, which has been developed using a pneumatic balloon. A multifingered robotic hand using the actuator is developed. Moreover, a fuzzy grasping control system is applied to the proposed robotic hand. The robot hand’s development is described incorporating pneumatic balloon actuator with the softness, size, and weight of a human hand. The fuzzy grasping control system is shown to be effective for the proposed robot hand, which can grasp soft objects easily.

Low cost tactile gripper using silicone rubber sensor array

Robotica ◽  
1988 ◽  
Vol 6 (1) ◽  
pp. 23-30 ◽  
Author(s):  
Lim Kah-Bin ◽  
Chong Yoon-Song
Keyword(s):  
Silicone Rubber ◽  
Sensor Array ◽  
Low Cost ◽  
Characteristic Curve ◽  
Tactile Sensor ◽  
Two Dimensional ◽  
Sensor Element ◽  
Dimensional Array ◽  
Conductive Silicone Rubber ◽  
Testing And Evaluation

SUMMARYA low cost tactile sensor using commercially available conductive silicone rubber has been developed. It comprises a two dimensional array arranged in 3 mm centre-to-centre distance. Each sensor element has a zero-force resistance of about 0.3 kohm and it has a logarithmic characteristic curve of resistance versus force. An 8 × 8 prototype tactile sensor array over an area of 3 cm × 3 cm has been fabricated and mounted on the gripper of a robot for testing and evaluation. The associated software has also been developed. The limitations of the sensor are also discussed.

Servo Drive Trajectory Design of Three-Axis Laser Processing System

2014 ◽  
Vol 529 ◽  
pp. 139-143
Author(s):  
Wei Hua Jiang ◽  
Yuan Cheng Fan ◽  
Da Zeng
Keyword(s):  
Control System ◽  
Processing System ◽  
Movement Control ◽  
Linear Interpolation ◽  
Numerical Control ◽  
Trajectory Design ◽  
Servo Drive ◽  
Digital Integrator ◽  
Detector Resolution ◽  
And Control

Three-axis processing of laser inner engraving machine control system can carry on multi-axis linkage control. Furthermore, it ensures multi-axis of high feeding speed and trajectory control of high precision. This article introduces the design of laser inner engraving machine movement control system. The core is a digital integrator of linear interpolation algorithm to generate the desired trajectory and control XYZ axis linkage. Wide speed range of servo motor and position detector resolution is adequate to constitute a half-closed loop drive. With integral separation algorithm being introduced in the controller, the speed of numerical control system, track speed and positioning accuracy are guaranteed in order to achieve optimal specification for dynamic and static characteristics of the whole system.

A New Flexible Rapid Thermal Processing System

1995 ◽  
Vol 389 ◽  
Author(s):  
K. C. Saraswat ◽  
Y. Chen ◽  
L. Degertekin ◽  
B. T. Khuri-Yakub
Keyword(s):  
Control System ◽  
Real Time ◽  
Processing System ◽  
Process Conditions ◽  
Temperature Uniformity ◽  
Real Time Control ◽  
Wafer Temperature ◽  
Time Control ◽  
Wide Range ◽  
Optical Flux

ABSTRACTA highly flexible Rapid Thermal Multiprocessing (RTM) reactor is described. This flexibility is the result of several new innovations: a lamp system, an acoustic thermometer and a real-time control system. The new lamp has been optimally designed through the use of a “virtual reactor” methodology to obtain the best possible wafer temperature uniformity. It consists of multiple concentric rings composed of light bulbs with horizontal filaments. Each ring is independently and dynamically controlled providing better control over the spatial and temporal optical flux profile resulting in excellent temperature uniformity over a wide range of process conditions. An acoustic thermometer non-invasively allows complete wafer temperature tomography under all process conditions - a critically important measurement never obtained before. For real-time equipment and process control a model based multivariable control system has been developed. Extensive integration of computers and related technology for specification, communication, execution, monitoring, control, and diagnosis demonstrates the programmability of the RTM.

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