Ring-type combined array transmitter and method of measuring sense of touch force of underwater manipulator with same transmitter
A transmitter and ring-type technology, which is applied to the ring-type combined array transmitter to measure the tactile force of an underwater manipulator, can solve problems such as poor practicability and achieve the effect of strong practicability
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[0028] The following examples refer to Figure 1-4 .
[0029] The object of the present invention is to design a ring-type combined array transmitter for underwater manipulator tactile force measurement. In order to work at different water depths, prevent measurement errors caused by water static pressure on force-sensitive elements, and realize multi-directional tactile force measurement of manipulator fingers, a ring-type differential pressure array transmitter is proposed. By designing the force measurement part as a ring type, the tactile force measurement in the 270° direction of the manipulator finger is realized. There are 39 force-sensitive units distributed on the surface of the ring structure, each force-sensitive unit includes a force-sensitive element and a temperature-sensitive element, and both the upper and lower sides of the force-sensitive element can be in contact with the external water, realizing the upper and lower layers of the force-sensitive element T...
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