A Basic Study on a Tactile Sensing Probe to Detect a Normal Vector by Using Spherical Thin Film of Resistance

Abstract

In this paper, a tactile sensing probe to detect a normal vector by using spherical thin film of resistance is newly proposed for measurement of free curved surface. The proposed probe, which is composed of spherical thin film of resistance and four electrodes, is very simple in construction and able to detect a normal vector within very low contact pressure. The method to detect a normal vector of a measuring point is clarified, and the probe is designed by a computer simulation. And then, the probe based on the proposed principle is developed, and the measurement error of the developed probe is clarified. The measurement error is under 0.7 degree. Besides, it was confirmed that form of free curved surface is able to be measured by using the developed probe.