触觉是机器人非常重要的信息来源,给机器人安装适当的触觉传感器,使机器人具有某些触觉功能,可以提高机器人作业的智能化程度. 因此,利用光纤外调制机理设计了一种机器人触觉传感器,介绍了传感器的结构和工作原理,对传感器的静态性能和动态性能进行了研究,建立了传感器的数学模型. 研究结果表明,这种传感器能够有效地获取触觉信号,可用在机械手上实现无损伤抓取作业.关键词:触觉传感器;光纤;性能;机械手Abstract :A tactile sensor mounted on a robot can make teh operation of the robot more intelligent . The st ructure and principal of a robot tactile sensor based on the outer modulation mechanism of a st rength type otical fiber sensor is int roduced in detail. Many experiment s were done to study the static and dynamic characteristics of a sensor , ,and the mathematical model was established as well. The result s showed that the could effectively sense the tactile sense and it could be used on a manipulator for soft-grasp.Key words :tactile sensor ;optical fiber ;characteristic ;manipulator
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