As the development of intelligent robots, more and more sensors of higher-technique are required, and tactile sensing technology gets extensively attention. It is the three-axis force that is working when the robot is grasping or walking, but it is quite difficult to measure the three-axis force directly in the numerous tactile sensors. To get the contact-alike nonlinear solution in FEA(Finite Element Analysis), an advanced analysis method of ANSYS - APDL(Advanced Program Description Language) is employed, with which the miscellaneous and time-consuming process is automatically completed in an intelligent way. This paper introduces a series of simulation experiments about an innovative optical wave-guided three-axis tactile sensing system and brings forward the corresponding mathematical model to calculate the three-axis force. A special sensing system is designed for the experiments, and the results considerably conform to the theoretical analysis. Thus, a new method comes into being for tactile sensing of intelligent robots.

Date Published: 22 July 2003
PDF: 9 pages
Proc. SPIE 5050, Smart Structures and Materials 2003: Smart Sensor Technology and Measurement Systems, (22 July 2003);

Published in SPIE Proceedings Vol. 5050:
Smart Structures and Materials 2003: Smart Sensor Technology and Measurement Systems
Daniele Inaudi; Eric Udd, Editor(s)