1 0 0 0 OA 極限作業ロボット(原子力ロボット)の研究開発
1 0 0 0 クモ糸の引張試験方法の研究
In this paper, tension tests are performed with the dragline silk produced by Nephila Clavata. Tension testingmachine is developed and manufactured for micro-sized materials. The dragline silk is the difficult material toconduct the tension test because the dragline of spider is the fine and ductile line and also the test load is small.From the results of tests, following conclusions are obtained. 1) The continuous stress-strain behavior of spider silkis obtained in 1.0μm/sec constant test speed, and the failure stress of dragline is about 2000MPa. 2) The diameter ofdragline is found to vary among each thread, thus it is necessary to measure the diameter of all specimens. 3) It isunderstood that the failure stress is mostly constant because the failure force of dragline and the cross-sectional areaare proportional to the weight of the spider.
1 0 0 0 3分力検出形触覚センサによる触覚情報処理
- 著者
- 大岡 昌博 小林 光男 篠倉 恒樹 鷺沢 忍
- 出版者
- 一般社団法人日本機械学会
- 雑誌
- 日本機械学會論文集. C編 (ISSN:03875024)
- 巻号頁・発行日
- vol.56, no.531, pp.2919-2925, 1990-11-25
- 被引用文献数
- 2
In order to improve the intelligence of a robot with a sense of touch, we have developed a tactile sensor array which can detect the distribution of the three components of a force vector. The tactile sensor consists of a 6×15 matrix of 3×3 mm sensing sites; each site is made of two single-crystal silicon rings on which semiconductor strain gauges are formed by means of a semiconductor processing technique. In this paper, we have introduced formulas to calculate applied force/moment, a center of distributed pressure, and some parameters of slip and hardness, and then carried out sensing tests in order to validate those formulas. Experimental results show that applied force/moment and the center of distributed pressure can be detected with practical accuracy. Slipping, rolling and rotating states can be distinguished by combinations of the slip parameters. Moreover, mechanical properties can be sensed by means of combinations of the hardness parameters. A lump in a soft object can be recognized using an adequate threshold method.