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
