Research on Flexible Grasping Based on Tactile Sensor

The flexible grasping technology of the manipulator shows significant advantages in the lossless grasping, and is gradually replacing the traditional rigid grasping method. In the study, the working characteristics of the tactile sensor are first analyzed in detail, and the relationship curve between the pressure and the voltage value of the sensor is determined. Then, a complete set of grasping experiment platform is built, Finally, the relationship between grasping speed and grasping force is analyzed by grasping experiment. The experimental results show that when the grasping speed is set to 10 mmls and the number of two sensors reaches 0.8N, the grasping success rate is up to 97%, and the average force of items to be caught in this grasping condition is 0.837N.