Modern sensing systems of intelligent robots based on multi-component slip displacement sensors

摘要

Article is dedicated to the development of a sensing system for detail slip signals' registration in the adaptive robot's gripper. A rod type structure slip displacement sensor with multi-component resistive registration elements is described. The hardware implementation of clamping force correction block is considered in details. The functional diagram of the slip displacement sensor based on polytypic conductive rubber is modeled by Proteus software. The intelligent approaches to the sensing system designing allow expanding the functionality of the proposed sensor.