译 名：
Design and simulation analysis on a tactile sensor for grasping manipulator
作 者：
Zhang Xingguo;Li Chenghao;Zhang Lei;Guo Xu;Zhang Bai;College of Mechanical Engineering,Nantong University;
关键词：
tactile sensor;;contact position;;contact force;;simulation;;Multisim
摘 要：
In order to detect the contact position and contact force in the process of robot hand grasping,a tactile sensor with a certain flexibility is designed.Resistive touching screen structure is adopted to define the contacting position,and contacting force is determined by the change of capacitance of silicone rubber caused by the compression load deformation.Measurement capability of the sensor is obtained by simulation experiment under different shape of contacting and the causes of error are analyzed.
