Design and Fabrication of a Three-Axis Force Sensor for Underwater Robot Fingers and a Method for Decreasing Error

Ming Hua Luo; Qing Mei Yao; Chun Wei Pan; Xin Jian Liu

doi:10.4028/www.scientific.net/AMM.475-476.411

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 475-476Design and Fabrication of a Three-Axis Force...

Design and Fabrication of a Three-Axis Force Sensor for Underwater Robot Fingers and a Method for Decreasing Error

Abstract:

In this paper, we present a new mathematical model of three-axis force sensor for underwater robot fingers. We designed a kind of sensor based on this model which has a simple structure and can be miniaturized easily. By this model, they can be calculated that the magnitude, direction of finger force. Moreover, we present a new compensating method to decrease the error caused with the variation of temperature and pressure of water and caused with bending of the beams by symmetrical electronic circuits. We proposed compensation block method to solve the problem of heavy lead wire which affecting finger moving in underwater. Finally, an experiment is performed to verify the proposed model.

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Periodical:

Applied Mechanics and Materials (Volumes 475-476)

Pages:

411-414

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.475-476.411

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Online since:

December 2013

Authors:

Ming Hua Luo, Qing Mei Yao, Chun Wei Pan, Xin Jian Liu

Keywords:

Force Sensor, Pressure Error, Robot Finger, Robot Hand, Underwater Robot

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References

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