Skinning a Robot: Design Methodologies for Large-Scale Robot Skin
作者： Thuy-Hong-Loan Le , Perla Maiolino , Fulvio Mastrogiovanni , Giorgio Cannata
关键词: User requirements document 、 Process (engineering) 、 Robot 、 Capacitive sensing 、 Skinning 、 Engineering 、 Sensitivity (control systems) 、 Control engineering 、 Toolbox 、 Functional requirement 、 Simulation
摘要: Providing a robot with large-scale tactile-sensing capabilities requires the use of design tools, bridging gap between user requirements and technical solutions. Given set functional (e.g., minimum spatial sensitivity or detectable force), two prerequisites must be considered: 1) capability chosen tactile technology to satisfy these from standpoint 2) ability customization process find tradeoff among different parameters, such as (in case skins based on capacitive principle) dielectric thickness, diameter sensing points, weight. The contribution this article is twofold: description possibilities offered by toolbox for skin finite element analysis optimization principles, which provides designer insights alternative choices obtain given performance according scenario at hand discussion about intrinsic limitations in simulating skin.
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