A study on the tactile sensor for a stable grasping of a robot hand
- 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
- Author(s)
- Minsong Kim
- DGIST Authors
- Minsong Kim ; Dongwon Yun ; Maolin Jin
- Advisor
- 윤동원
- Co-Advisor(s)
- Maolin Jin
- Issued Date
- 2022
- Awarded Date
- 2022/08
- Type
- Thesis
- Description
- Tactile sensor, Surface slip, Strain, Soft material, Decoupling
- Abstract
- 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
- Degree
- Master
- Publisher
- DGIST
- Related Researcher
-
-
Yun, Dongwon
- Research Interests Biomimetic Robot; Soft Robotics; Robot elementary technology : Sensors and actuators; Study on the medical application; Study on the industrial application
-
- Files in This Item:
-
There are no files associated with this item.
- Appears in Collections:
- Department of Robotics and Mechatronics Engineering Theses Master
Items in Repository are protected by copyright, with all rights reserved, unless otherwise indicated.