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首页> 外文期刊>Sensors Journal, IEEE >Friction in Totally Optical Robotic Finger Oriented on Shear Force Measurement
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Friction in Totally Optical Robotic Finger Oriented on Shear Force Measurement

机译：基于剪切力测量的全光学机器人手指的摩擦

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摘要

Current developments in tactile sensors for robots have shown that they cannot be limited to the detection of normal pressure. For instance, shear force detection is an important issue in the research field oriented on the mechanical characterization. We present an innovative optoelectronic PDMS-Au tactile robotic sensor based on the concept of light coupling in a nanocomposite material due to applied pressure. The friction of two tip layouts is investigated by means of a tribometer. A one-to-one almost inversely linear relationship between the optical transmittivity and the coefficient of friction is observed. This property of the sensor together with its low cost makes it very interesting in those applications where the detection of surface inhomogeneities is the key issue.
机译：机器人触觉传感器的最新发展表明，它们不仅限于检测正常压力。例如，剪切力检测是针对机械表征的研究领域中的重要问题。我们提出了一种创新的光电PDMS-Au触觉机器人传感器，该传感器基于由于施加压力而在纳米复合材料中进行光耦合的概念。借助摩擦计研究了两个尖端布局的摩擦力。观察到光学透射率和摩擦系数之间的一对一几乎成反比的线性关系。传感器的这一特性及其低成本使其在那些检测表面不均匀性是关键问题的应用中变得非常有趣。

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