Structural Optimization of the Thin-Type Four-Axis Force/Moment Sensor for a Robot Finger Using Response Surface Methodology and Desirability Function

摘要：

A multi-axis force/moment sensor, which can measure force and moment, is helpful for robotic force control. However, the smallest multi-axis force/moment sensor has excessive height, which restricts postures in tasks by a robot hand. Therefore, we aim to optimize the structure of the thin-type four-axis force/moment sensor that we developed, which can measure the twisting moment on the finger cushion of a robot hand as if it were human, including strain gauge. As a result of applying structural optimization techniques using response surface methodology and desirability function on the four-axis force/moment sensor by finite element analysis, we obtained optimum design variables and validated the effectiveness of the proposed techniques.

作者: Yuichiro Hayashi Nobutaka Tsujiuchi Takayuki Koizumi Hiroko Oshima Tohru Hiroshima

作者单位: Department of Mechanical Engineering,Doshisha University Tataramiyakodani,1-3,Kyotanabe,Kyoto,610-0321,JAPAN

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 1750-1755

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）