| 摘要 |
PURPOSE:To enable accurate detection of gripping condition while achieving a higher response speed, by detecting self-excited vibration of a vibrator which receives a friction force generated by a very slight slide with respect to a gripper. CONSTITUTION:A string W given a specified tension with both ends thereof fixed is make up of a metal wire of stainless steel or the like or a twisted wire thereof or a non-metal fiber. A properly elastic cover (a) is fixed near the center of the string W and a resistance wire strain gauge Rg is wound on the circumference thereof. The circumference of the resistance wire strain gauge Rg is covered with a friction body (b). The friction body (b) is made up of a sticky material that would cause a proper friction between the body and an object to be gripped, for example, a vinyl based resin. Then, as the object being gripped moves over the friction body (b) in the direction perpendicular to the string W contacting it lightly, the string W is vibrated by self- excitation owing to a friction therebetween. An electrical signal corresponding to the self-excited vibration obtained from the resistance wire strain gauge Rg is applied to a control system to control a gripper. |
