| 摘要 |
PURPOSE:To reduce the size of a finger thus to reduce the entire size of a mechanical hand, by applying a supersonic pulse on a work then measuring the time difference between the transmitted and the received pulses thereby detecting the slippage of a work caught by a mechanical hand. CONSTITUTION:At the holding step of a work, a supersonic sound is transmitted from a supersonic transducer 14 to a work 3 caught by the fingers 12, 13 with the predetermined time interval then the reflected wave is received by said transducer 14. Then the time difference between said transmitted and received pulses is measured and the slippage of the work 3 is detected from the difference between said measurement and the previous one. |
