共查询到19条相似文献,搜索用时 359 毫秒
1.
2.
传统采煤机齿轮啮合力应力计算方法存在齿轮啮合数据采集不准、传感器效率偏低问题,导致方法应用误差较大.针对上述问题,提出基于非分散红外(Non-Dispersive InfraRed,NDIR)技术原理的采煤机齿轮啮合力应力计算方法.利用NDIR气体传感器,实时采集采煤机齿轮啮合力应力数据,引入有限元方法构建模型,根据Hertz接触法实现静力等效分析以及静态接触分析,通过ANSUS/LS-DYNA计算采煤机齿轮啮合力应力.为验证研究方法的有效性,设计仿真.仿真结果证明了研究方法具有更小应用误差,拟合度较高,且成本较低,具有较好的应用前景. 相似文献
3.
4.
新型机器人手指六维力传感器系统设计 总被引:4,自引:1,他引:3
针对六维力传感器刚度低、尺寸大等问题,设计了一种可应用于机器人手指的、新型Stewart并联结构的六维力传感器。对该六维力传感器的结构、测量电路等进行了设计,并对传感器标定数据进行了分析,结果表明该传感器系统设计理论正确,且具有一定应用价值。 相似文献
5.
6.
7.
多维力觉感知系统在柔性精密操控、零力示教、轮廓跟踪、自动柔性装配、机器人多手协作、机器人临场感和遥操作、机器人虚拟和远程手术、康复训练等场合有巨大的需求。力敏元件的性能是决定机器人多维力传感器的各项性能指标的关键因素之一。早在20世纪70年代初,力觉信息的获取和应用就已开始被国际上关注,并获得了初步的探讨。自20世纪80年代末起,我国学者也开始关注和研究力觉感知技术。对机器人多维力传感器力敏元件的设计和研究进展进行了综述,对高精度力信息获取面临的挑战展开了分析,并对机器人多维力传感器的发展趋势和解决思路提出了一些可行性的思路。 相似文献
8.
9.
本文主要介绍了机器人控制算法试验系统的研制.基于CAN总线的六维力传感器与机器人控制程序的实时、可靠的通讯是该试验系统建设的难点.制定完力传感通讯协议并测试可与机器人正常通讯后,本文进行了一种力控制试验.从试验结果分析,该试验系统完全可以满足机器人控制实验的需要,具有一定的工程价值. 相似文献
10.
机器人六维力传感器研究概况及发展预测 总被引:7,自引:0,他引:7
随着机器人技术的飞速发展,机器人六维力的传感器越来越多的得到广泛的应用。本文对机器人六维力传感器的研究概况及影响因素作了简要概述,并对未来机器人六维力传感器的发展方向作了预测。 相似文献
11.
We have developed a new sensor prototype for plantar pressure measurements during gait. The mechanical stress at the plantar surface has two components, pressure acting normal to the surface and shear stress acting tangential to the surface. The shear stress can be further divided into anterior–posterior (AP) and medial–lateral (ML) components. The developed sensor simultaneously measures both normal and shear stresses. It utilizes commercial polyvinylidenefluoride (PVDF) material and consists of four separate sensor elements. This paper presents the sensor development and calibration for each force components. A shaker providing dynamic excitation force was used in the calibration. Average sensitivities computed from the results were (12.6 ± 0.8) mV/N for the normal force, (223.9 ± 20.3) mV/N for the AP shear force and (55.2 ± 11.9) mV/N for the ML shear force. A preliminary plantar pressure measurement was also done. The results obtained were promising. However, the sensor developed here is the first prototype. In future, a matrix sensor based on this principle is planned to be constructed. 相似文献
12.
13.
基于索力传感理论模型和环式结构的索力传感器,对索力测量原理做了推导,传感器输出感应电压与激励磁场变化、外力变化、某一激励磁场下的材料磁导率及空气间隙尺寸、线圈密度等有关.重点分析了加载外力对传感器输出的影响.在稳恒直流激励下,当外力缓慢变化时可通过感应积分电压反映外力;当外力交流变化时,可通过感应电压求得外力,感应电压幅值与加载外力的频率成正比.最后,确定模拟实验参数,对传感器进行了仿真.结果表明当外力缓慢变化时,感应积分电压与外力成线性关系,传感器的灵敏度与线圈匝数.材料逆磁致伸缩系数成正比. 相似文献
14.
15.
This paper is focused on the study of a new low frequency micro and nanoforce sensor based on diamagnetic levitation. The force sensitive part is a 10-cm long macroscopic capillary tube used as a levitating seismic mass. This tube presents a naturally stable equilibrium state with six degrees of freedom thanks to the combination of diamagnetic repulsive and magnetic attractive forces. It is only used as a one-direction force sensing device along its longitudinal axis. This force sensor is passive. The force measurement is based on the displacement of the capillary tube and in steady-state this displacement is proportional to the force. This sensor is characterized by an under-damped second-order linear force-displacement dynamic which remains linear on several hundred micrometers and can thus measure a wide range of microforces. Because of the magnetic springs configuration used, the capillary tube presents a horizontal mechanical stiffness that can be adjusted between 0.01 and 0.03 N/m (similar to the stiffness of a thin AFM cantilever). The measurement range typically varies between ±50 μN. Bandwidth is 4 Hz. The resolution depends on the sensor used to measure the capillary tube displacement and on noises induced by environmental conditions (ground and air vibrations). The resolution typically reached with a STIL confocal chromatic sensor is 5 nN inside a test chamber located on a anti-vibration table. This study is illustrated by a pull-off force measurement. 相似文献
16.
为研究六足仿生沙基机器人的C形腿在松软颗粒介质上行走时,C形腿轮壤作用正应力和切应力变化规律,C形腿的地面支持力和挂钩牵引力与轮壤作用正应力和切应力之间的关系,设计制作了C形腿机器人环形试验台。对C形腿轮轴的三维力传感器,轮缘上的正应力和切应力传感器的选择、安装及测量方法,动态响应和传感器自重等对测量结果的影响进行了研究。给出了动态安装三维力传感器的方法。测试了应力传感器的动态响应,给出了其传递函数,分析了应力传感器动态延时对C形腿轮缘线速度的限制。分析了悬臂梁传感器作为应力传感器时,其自重和离心力对测量结果的影响,推导了自重和离心力产生的附加值的计算公式。 相似文献
17.
18.