Title

A study on the tactile sensor for a stable grasping of a robot hand

Alternative Title

로봇 핸드의 안정적인 파지를 위한 촉각 센서에 대한 연구

DGIST Authors

Minsong Kim ; Dongwon Yun ; Maolin Jin

Advisor

윤동원

Co-Advisor(s)

Maolin Jin

Issued Date

2022

Awarded Date

2022/08

Citation

Minsong Kim. (2022). A study on the tactile sensor for a stable grasping of a robot hand. doi: 10.22677/thesis.200000630919

Type

Thesis

Subject

Tactile sensor, Surface slip, Strain, Soft material, Decoupling

Description

Tactile sensor, Surface slip, Strain, Soft material, Decoupling

Abstract

더보기

Table Of Contents

Ⅰ. INTRODUCTION 1
Ⅱ. Design of a tactile sensor 6
2.1 Principle of slip detection 6
2.2 Optimal structure of a tactile sensor selection 15
2.2.1 Sensor’s optimal gap size selection 19
2.2.2 Sensor’s internal structure selection 22
2.2.3 Design of a sensor with a radial structure 30
2.3 Fabrication of sensor 33
2.4 Verification of FEA through the experiment 37
Ⅲ. Performance test of a tactile sensor 40
3.1 Calibration of sensor 40
3.2 Reliability test 43
3.3 Sensor’s slip detection capability verification test 45
3.3.1 Design of a gripper 45
3.3.2 Slip detection capability verification test 52
Ⅳ. CONCLUSION 59
Ⅴ. DISCUSSION 61
References 67
요약문 72

URI

http://dgist.dcollection.net/common/orgView/200000630919
http://hdl.handle.net/20.500.11750/16803

DOI

10.22677/thesis.200000630919

Degree

Master

Department

Department of Robotics and Mechatronics Engineering

Publisher

DGIST

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