共查询到18条相似文献,搜索用时 375 毫秒
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一种六维腕力传感器动态响应的研究 总被引:1,自引:0,他引:1
十字梁腕力传感器广泛应用于机器人系统。腕力传感器的响应特性决定了传感应变片的粘贴和传感器的标定方法,也影响机器人系统的动态特性。针对十字梁六维腕力传感器的结构特点,以Lagrange方程为基础,建立六维腕力传感器的动力学模型,研究腕力传感器在力(力矩)作用下的响应特性以及传感器参数对传感器响应的影响。 相似文献
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航天机器人用六维力传感器信号处理系统研究 总被引:2,自引:1,他引:1
介绍航天机器人用六维腕力传感器信号处理系统的硬件、软件构成。由于航天机器人的特殊要求,设计的信号处理系统具有高精度、高可靠性通讯和数据处理速度快等特点,并首次在传感器实际应用中实现了动态补偿。 相似文献
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机器人惯性参数识别是机器人精确建模以及机器人控制和仿真的关键问题之一。机器人腕力传感器的接入将影响机器人系统的动力学特性 ,同时腕力传感器的输出也真实地反映了机器人的力作用和机器人末端的动力学特性。本文基于腕力传感器的输出信号 ,对在线识别机器人操作臂末端的惯性参数的方法进行了分析和研究 ,并建立了惯性参数在线识别的神经网络模型 ,网络学习后其权值即为辨识的惯性参数。 相似文献
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一种新型水下机器人用六维腕力传感器 总被引:6,自引:0,他引:6
本文提出了一种新型水下作业机械手用六维腕力传感器。该传感器具有结构简单,易于加工、密封和水压力补偿的特点。文中介绍了该传感器的机械结构、弹性体的力学模型和力-变形转换矩阵。文章最后对设计的腕力传感器进行了标定,获得了传感器的转换矩阵,并对结果进行了分析。 相似文献
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腕力传感器是一类重要的机器人传感器,对传感器进行标定是传感器设计过程中的重要一步。文中利用ADAMS虚拟样机技术,对并联腕力传感器进行标定,通过不同的力的加载,得出多组标定数据,然后求解得出所设计的传感器的力标定矩阵。为传感器在实际标定实验过程中提供理论和参考依据。 相似文献
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机器人腕力传感器在工业现场测量力或力矩时,不可避免地受到随机噪声的干扰,从而影响了测量精度的提高.为了克服传统去噪方法的局限性,本文将多重小波变换应用到机器人腕力传感器数据预处理中,采用浮动阈值法消除噪声,并将传统的低通滤波和FFT/IFFT方法与本文介绍的方法进行比较.结果表明,多重小波浮动阈值去噪方法在机器人腕力传感器信号去噪方面优于传统的方法. 相似文献
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介绍了一种用于机器人操作的基于并联构型的新型柔性腕力传感器,对设计方案进行了理论分析,并进行了具体设计 相似文献
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为了获得综合性能指标优良的六维力传感器,本文提出一种新型的基于Stewart平台的预紧式六维力传感器结构,并对其进行了位姿误差分析。首先以经典Stewart平台六维力传感器为比较对象,描述了此预紧式六维力传感器的结构特点;而后综合利用影响系数法和矢量法建立其位姿误差模型,进而定义位姿误差灵敏度指标并据此绘制误差灵敏度直方图以分析不同误差因素对传感器位姿误差的影响情况;最后研制出传感器样机并完成标定实验,实验结果表明该传感器测力精度在1%以内。所研究内容对六维力传感器的设计制造和实验标定具有理论指导意义。 相似文献
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The force feedback algorithm is presented for the manipulator which consists of a high stiffness position servo system with six-degree of freedom and has a compliant six-component force sensor at its wrist. The obtained algorithm has the following three features. First, this algorithm gives the relation between the position and orientation of the wrist at the present step and that of the wrist to be attained at the next step. Second, an efficient calculation method to obtain each joint movement satisfying this relation is proposed. Third, this algorithm reduces the force feedback control to the position feedback control of each joint in case the force sensor is sufficiently compliant compared with its environment. 相似文献
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提出了一种新型的基于Stewart平台的超静定并联式六维力传感器结构,并对其进行了动力学理论分析和有限元仿真研究.描述了该传感器相对于经典Stewart平台六维力传感器所具有的结构特点;利用有限元法,采用位移协调和力平衡条件建立了传感器弹性动力学理论模型,依此模型进行数值分析,绘制了固有频率与各结构参数间变化关系曲线;并利用ANSYS软件建立了传感器有限元模型,进行了振动模态分析,得到其固有频率和振型.研究内容为深入开展六维力传感器的弹性动力学分析与综合及动态优化设计奠定了基础. 相似文献
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Ying-Jun Li Jun Zhang Zhen-Yuan Jia Min Qian Hanguang Li 《Mechanical Systems and Signal Processing》2009,23(8):2687-2698
This paper proposes a novel piezoelectric six-component force/torque sensor with four-point supporting structure, and makes research on force-sensing element's spatial arrangement of the novel sensor. Two kinds of different spatial arrangements are advanced, lozenge and square arrangement. The mathematical models are built and calculated. The influence on using performance of the two kinds of different spatial arrangements of the sensor is analyzed by FEM (ANSYS software). In order to investigate the validity of the proposed method, a prototype of piezoelectric six-component force/moment sensor is developed with two kinds of different spatial arrangements, and characteristic tests of the piezoelectric six-component force/moment sensor are performed. The test shows that both of the different spatial arrangement sensors could be used to measure six-component force/torque, but the square arrangement piezoelectric six-component force/moment sensor is more suitable for measurement of six-component force/torque on axis. The interference errors of square arrangement sensor are less than 5%, which are lower than those of the lozenge arrangement sensor. The natural frequencies in six directions are analyzed and discussed. 相似文献
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Haptic based human–computer interaction (HapHCI) system is currently the frontier of robot research, which is widely used in virtual reality, rehabilitation, entertainment, and so on. The measurement of the multi-dimensional interactive force between human hand and interaction device such as hand-controller, joystick, limb rehabilitation device, etc., becomes an important component of the HapHCI. However, the existing commercial 6 degree-of-freedom (DOF) force sensors are too expensive and often over designed for HapHCI not only in axis but also in bandwidth. In this paper, a novel 4 DOF wrist force/torque sensor suitable for HapHCI is developed, which is self-decoupled without calculating the decoupling matrix. Thus this type of wrist force/torque can be called as direct output force sensor, which is quite different from the conventional ones called as indirect output force sensor. Its elastic body has a simple geometry which is easy to fabricate, and half the number of strain gauges compared to the existing commercial 6 DOF force/torque sensor. So the 4 DOF force/torque sensor is much lower in cost. This paper introduces the elastic body structure of the wrist force/torque sensors, and analyses the self-decoupled principle in detail. A prototype sensor is fabricated, and the calibration test results of the 4 DOF force/torque sensor validate the analysis and demonstrate the advantage of such a sensor. 相似文献
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在机器人腕力传感器的动态特性分析中,最关键的步骤之一是从传感器输入输出信号中提取精确的脉冲响应函数和频响函数。介绍了一种新的提取腕力传感器脉冲响应函数的方法——相关小波法。在建立腕力传感器的简化动力学模型的基础上,模拟了机器人与环境相互碰撞及机器人在强噪声环境中的典型工作条件,用相关小波法提取了模型系统的脉冲响应函数和频响函数,并与传统的FFT方法进行了比较。结果表明,相关小波法比FFT方法具有更明显的优势,获得了更高精度的脉冲响应函数和频响函数的提取。相关小波法为腕力传感器,同时也为其他传感器的动态特性分析提供了一种新的、有效的方法。 相似文献
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并联结构力传感器力矩各向同性研究 总被引:1,自引:0,他引:1
六维力传感器可以同时测量空间六维广义力,已成为机器人研究领域的重点之一。文中研究的是一种新型、适用于机器人手腕和指尖的Stewart结构的六维力传感器,分析其力矩各向同性指标,得到力矩各向同性的具体解析表达式,同时对力矩各向同性进行了图谱分析,并研究了坐标系变化对力矩各向同性指标的影响,为该六维力传感器的结构设计奠定了理论基础,其研究结果具有理论和实用价值。 相似文献