机械与电子
機械與電子
궤계여전자
MACHINERY & ELECTRONICS
2014年
3期
65-70
,共6页
王士浩%查富生%尹鹏%王鹏飞%李满天
王士浩%查富生%尹鵬%王鵬飛%李滿天
왕사호%사부생%윤붕%왕붕비%리만천
力矩传感器%弹性体%信号处理电路%应变片阵列%静态标定
力矩傳感器%彈性體%信號處理電路%應變片陣列%靜態標定
력구전감기%탄성체%신호처리전로%응변편진렬%정태표정
torque sensor%elastomer%signal processing circuit%strain gauge array%static calibra-tion
设计了一种新型的机器人关节力矩传感器，主要用于获取关节处的力矩和转角信息，以此来计算关节刚度。传感器是由传递力矩的弹性体、旋转电位计和信号处理电路组成。弹性体通过结构参数的设计与优化来提高灵敏度。信号处理电路一方面用于对旋转电位计的输出电压信号进行滤波，另一方面对由2×2应变片阵列组成的两组全桥电路进行放大和滤波处理。最后，通过对传感器进行加载实验获得力矩、角位移与输出电压的关系，采用最小二乘法对传感器进行静态标定。传感器输出的转角和力矩信息可作为控制系统的调控依据。
設計瞭一種新型的機器人關節力矩傳感器，主要用于穫取關節處的力矩和轉角信息，以此來計算關節剛度。傳感器是由傳遞力矩的彈性體、鏇轉電位計和信號處理電路組成。彈性體通過結構參數的設計與優化來提高靈敏度。信號處理電路一方麵用于對鏇轉電位計的輸齣電壓信號進行濾波，另一方麵對由2×2應變片陣列組成的兩組全橋電路進行放大和濾波處理。最後，通過對傳感器進行加載實驗穫得力矩、角位移與輸齣電壓的關繫，採用最小二乘法對傳感器進行靜態標定。傳感器輸齣的轉角和力矩信息可作為控製繫統的調控依據。
설계료일충신형적궤기인관절력구전감기，주요용우획취관절처적력구화전각신식，이차래계산관절강도。전감기시유전체력구적탄성체、선전전위계화신호처리전로조성。탄성체통과결구삼수적설계여우화래제고령민도。신호처리전로일방면용우대선전전위계적수출전압신호진행려파，령일방면대유2×2응변편진렬조성적량조전교전로진행방대화려파처리。최후，통과대전감기진행가재실험획득력구、각위이여수출전압적관계，채용최소이승법대전감기진행정태표정。전감기수출적전각화력구신식가작위공제계통적조공의거。
Designs a new torque sensor for ro-bot joint,mainly used to capture the information a-bout torque and angle which is for computing stiff-ness at joint.The sensor consists of sensitive wheel for transmitting torque,rotating potentiometer and signal processing circuit.In order to improve the sensitivity of sensitive wheel ,we design and opti-mize the structure parameter.Signal processing cir-cuit is not only used as a filter for output voltage signal of rotating potentiometer,but also as differ-ential signal amplifier for 2 ×2 strain gauge array. Finally,through the analysis of the loading experi-ment of torque sensor,get the relationship between angular displacement and torque with output volt-age.The data is applied to static calibration of the sensor by the least square method.By the output voltage signal of rotating potentiometer and the differential signal amplifier to measure the angular displacement and torque which can be used as the control system.
