Slipping detection is important for manipulator grasping object reliably.A simple and low-cost slipping sensor based on acoustic-electric converter is presented.The sensor picked up the micro-vibration signal caused by touching and sliding

and converted it into electric signal by acoustic-electric converter.The test and analysis of the realization processes of the sensor is described in detail.The structure

working principle

conditioning circuit and signal processing of the sensor is introduced.The result of the test and analysis demonstrates that it can provide effective touching and sliding signals

and the study and application of the sensor have certain feasibility.