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发明公开
CN108705549A 一种带有触觉和力觉的机械手关节 审中-实审

一种带有触觉和力觉的机械手关节
摘要：
本发明提供了一种带有触觉和力觉的机械手关节，在机械手关节与被抓取物体接触的一面布置由若干个压力传感器组成的压力传感器阵列，在机械手关节的末端布置力矩传感器。其中，压力传感器阵列能够反馈出机械手关节上的受力位置，力矩传感器用于测量绕机械手关节末端旋转轴的力矩，且力矩传感器的量程比压力传感器的量程大。本发明的有益效果：(1)可以感知机械手与被抓取物体之间的接触点；(2)一定程度上模拟人手的触觉感知；(3)可以测量机械手关节的抓取力矩；(4)适用于抓取不同形状、不同材质的物体。
摘要（英）：

The invention provides a manipulator joint with touch sense and force sense. A pressure sensor array composed of a plurality of pressure sensors are arranged on the face, making contact with a grabbedobject, of the manipulator joint, and a torque sensor is arranged at the tail end of the manipulator joint, wherein the pressure sensor array can feed back the force loading position of the manipulator joint; the torque sensor is used for measuring torque around a manipulator joint tail end rotating shaft; and the measuring range of the torque sensor is larger than that of the pressure sensors. The manipulator joint has the beneficial effects that (1) the contact point between a manipulator and the grabbed object can be sensed; (2) tactile perception of human hands is simulated to a certain extent; (3) the grabbing torque of the manipulator joint can be measured; and (4) the manipulator joint is suitable for grabbing of objects with different shapes and materials.

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