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Performance and Sealing Material Evaluation in 6-axis Force-Torque Sensors for Underwater Robotics

机译：水下机器人6轴力扭矩传感器的性能和密封材料评估

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摘要

In this paper, the effects of two different materials for the sealing on the performance of an innovative optoelectronic force/torque sensor for underwater robotic applications are investigated. The sensor has been designed to exhibit a considerable compliance in comparison with commercial F/T sensors for industrial applications, and optoelectronic components have been used as sensible elements for the development of the sensor, allowing a relatively simple and reliable implementation. These properties allow dealing with uncertain environments and an easy sensor integration in complex robotic systems, such as in robotic grippers for underwater applications.The paper presents the basic working principle and the design of the sensor together with experimental data to illustrate its main features. Finally, the use of the sensor as an intrinsic tactile sensor is investigated and experimentally validated, and the comparison of different materials for the rubber sealing in terms of their effects on the sensor performance is executed.
机译：在本文中，研究了两种不同的密封材料对水下机器人应用创新型光电力/扭矩传感器的性能的影响。与用于工业应用的商业F / T传感器相比，该传感器的设计具有相当大的顺应性，并且光电组件已被用作传感器开发中的敏感元件，从而实现了相对简单和可靠的实现。这些特性可以应对不确定的环境，并且可以在复杂的机器人系统中轻松集成传感器，例如在水下应用的机器人抓手中。本文介绍了传感器的基本工作原理和设计以及实验数据，以说明其主要功能。最后，对传感器作为内在触觉传感器的使用进行了研究并进行了实验验证，并对橡胶密封用不同材料对传感器性能的影响进行了比较。

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