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Tactile sensor for robotic manipulators
(Igor Sikorsky Kyiv Polytechnic Institute, 2023) Elgamal Haron Mohamed Abdelfattah; Vovianko, Svitlana
The relevance of the work is related to the need to increase the sensitivity and speed of tactile sensors. The purpose of the work is development of a tactile sensor system for robotic manipulators that can provide real-time feedback and enhance the robot's ability to perceive and interact with its environment through touch. To achieve the goal of the work, following tasks were set: - Analysis of the current state-of-the-art in tactile sensor technologies specifically designed for robotic manipulators. - Establish a set of requirements and specifications for the tactile sensor system. - Evaluate various tactile sensor options and select the most suitable sensor technology for the project. - Identify areas for improvement in the tactile sensor system and iteratively refine the design and algorithms. Key characteristics of the sensors were calculated: sensitivity in static and dynamic modes, linearity, measurement accuracy, and resolution.As a result of the work, the design of the integral pressure transducer matrix was chosen, which provides high resolution and high sensitivity when measuring tactile pressure.