Evaluation of gripping sensor using polyurethane with high photoelastic constant

In this study, the measurement of the gripping force on an object using a photoelastic polyurethane sensor is reported. A small amount of force (0.1–10 N) is detected using polyurethane with a high photoelastic constant of 1000–10 000 (×10–12 Pa−1). The force is detected based on the change in the o...

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Published in:Japanese Journal of Applied Physics 2021-11, Vol.60 (SF), p.SFFD03
Main Authors: Takarada, Jun, Mitsuzuka, Masahiko, Sugino, Yo, Mori, Tatsuya, Kinbara, Yuho, Kageoka, Masakazu, Tawa, Tsutomu, Kawamura, Sadao, Tajitsu, Yoshiro
Format: Article
Language:English
Subjects:
Birefringence
End effectors
gripping sensor
Luminous intensity
photoelastic effect
polyurethane
Polyurethane resins
Sensors
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cited_by cdi_FETCH-LOGICAL-c345t-554675c090988310cfcae415e8666d101b11ecfbe5e2706fbd8888a22c6bdb503
cites cdi_FETCH-LOGICAL-c345t-554675c090988310cfcae415e8666d101b11ecfbe5e2706fbd8888a22c6bdb503
container_end_page
container_issue SF
container_start_page SFFD03
container_title Japanese Journal of Applied Physics
container_volume 60
creator Takarada, Jun
Mitsuzuka, Masahiko
Sugino, Yo
Mori, Tatsuya
Kinbara, Yuho
Kageoka, Masakazu
Tawa, Tsutomu
Kawamura, Sadao
Tajitsu, Yoshiro
description In this study, the measurement of the gripping force on an object using a photoelastic polyurethane sensor is reported. A small amount of force (0.1–10 N) is detected using polyurethane with a high photoelastic constant of 1000–10 000 (×10–12 Pa−1). The force is detected based on the change in the optical path difference due to birefringence when stress is applied to the polyurethane. The value after correction processing for light-receiving intensity that periodically changed with respect to stress is used to determine the force. This corrected value is obtained from the sum of the absolute values of the time difference of the received voltage. The sensor, installed at the fingertips of the robot hand, is used to lift hard and soft imitation eggs, both of which were successfully lifted using a force of approximately 1 N, as detected by the sensor.
doi_str_mv 10.35848/1347-4065/ac2216
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source Institute of Physics IOPscience extra; Institute of Physics:Jisc Collections:IOP Publishing Read and Publish 2024-2025 (Reading List)
subjects Birefringence
End effectors
gripping sensor
Luminous intensity
photoelastic effect
polyurethane
Polyurethane resins
Sensors
title Evaluation of gripping sensor using polyurethane with high photoelastic constant
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