Sliding Sensor and Soft Grasping of Electron Hydraulic Servo Manipulator

Robot's soft grasping function relies on the fine-performance force sensor, position sensor and sliding sensor. The micro-vibration measurement based sliding sensor employs the elastomer and the photoelectric apparatus installed in the manipulator to transform the object's slide against the manipulator into an electronic signal to detect the slide at the moment of grasping. The object's slide against the manipulator causes the elastomer's micro-vibration. Based the vibration, kinetics, illuminance and elasticity deformation theories, the linear relation between the acceleration of the slide and the differential of the output voltage of the photoelectric apparatus can be deduced, which will be used to establish the sliding degree determination mode. A fuzzy control strategy have been developed for soft grasping of electron hydraulic servo manipulator, which mimics the thinking modes of the human brain