并联预紧式六维力传感器动态力响应分析

提出一种并联预紧式双层结构六维力传感器,介绍了该传感器的结构特点和优点.并基于多自由度系统振动力学对该六维力传感器进行动态力响应分析.首先结合该传感器的结构特点对其进行静力学分析,在此基础上建立了传感器系统的振动力学模型;然后推导出系统的运动微分方程,通过求解运动微分方程,得到了系统在动态力作用下广义坐标的响应以及各分...     

基于石英谐振式力敏传感器的数字式测力系统

提出了一种新型的数字式测力系统的设计方案,该系统以单片机作为中心控制单元,利用了石英谐振器力-频特性,采用了多周期同步法测频、数字滤波等技术,得到了高精度、高稳定性和响应快速的力传感数据,设计简单,工作可靠.     

Lag-Stabilized Force Feedback Damping

A lag-stabilized, force feedback controller for damping initial and residual oscillations of a planar, cantilevered flexible arm has been analytically developed and experimentally implemented on a commercial robot. The controller feeds back force sensor measurements that are delayed in time and proportional to the displacement (angular orientation) of the arm in order to damp the oscillation. As a result of the lag (contrary to popular belief), the controlled robot system is stable and provides tunable performance on a Cincinnati Milacron T3-786 robot.     

A Force of Nature

Our educational system does little to prepare computer science students for making the transition to the working world.     

Digital Library Task Force

In 1995, the IEEE Computer Society established the Task Force on Digital Libraries as a first step leading to a full-fledged Technical Committee. The task force is to promote research in the theory and practice of all aspects of digital libraries. The task force sponsors activities that benefit its members and profession. Such activities include sponsoring and co-sponsoring symposia, sessions in large conferences, tutorials, and a newsletter. The task force co-sponsored the Forum on Research and Technology Advances in Digital Libraries and is co-sponsoring the International Journal of Digital Libraries, published by Springer-Verlag. Membership in the Task Force on Digital Libraries is free     

A Novel Coilless Scanning Mirror Using Eddy Current Lorentz Force and Magnetostatic Force

This paper reports on novel coilless microscanning mirrors driven by the magnetostatic force that resulted from a magnetic interaction as well as the Lorentz force that is induced by an eddy current. This eliminates complicated coil routing and insulation layer deposition and simplifies fabrication allowing easy integration with micromachining and complementary metal-oxide-semiconductor processes. Bulk micromachined one-axis and two-axis scanning mirrors are demonstrated, displaying 1-D and 2-D scanning patterns. Two-dimensional scanning patterns are easily tuned by varying the combination of driving frequencies. The results show that the diamagnetic (Cu) mirror is mainly driven by the eddy-current-induced Lorentz force, whereas the ferromagnetic (Ni) mirror is mainly driven by the magnetostatic force.     

一种能抑制力偏心误差的光纤测力传感器

介绍了一种光纤测力传感器。利用两根多模光纤束传输光信号，采用一种特殊的结构形式，能够消除力偏心对传感器输出的影响。另外，还介绍了温度补偿电路、光源驱动电路和光信号接收电路。     

附加力外环的机器人力／位置自适应模糊控制

提出一种由神经网络训练模糊控制规则的自适应模糊控制器,并应用附加力外环的机器人力／位置控制。在不改变一般工业机器人原有位置控制的前提下,实现力／位置自适应模糊控制。实验结果表明,该方法可使机器人控制系统对工作环境接触刚度的自适应能力得到显著改善。     

Active Opening Force and Passive Contact Force Electrostatic Switches for Soft Metal Contact Materials

This paper reports on a mechanically bi-stable, electrostatically actuated switch mechanism with a large active opening force and a small passive closing force, designed to fit the contact and opening force requirements of soft contact materials such as gold. So far, most microelectromechanical systems (MEMS) switch designs have been optimized for a large contact force without paying too much attention to the opening force. In the “conventional,” most commonly used electrostatic microswitch concept, the force of the actuator is used to close the switch contacts, and the switch is opened by the passive restoring force of the deflected cantilever or membrane. This concept results in a large contact force, but the opening force is typically too small to overcome the contact adhesion force of soft metals, which makes this concept less suitable for contact materials such as gold with its low contact resistance at low contact forces. The switch concept presented in this paper is based on two cantilevers laterally moving by curved electrode actuators. The tips of the cantilevers are endowed with hooks which can be mechanically interlocked. In the latched state, the spring forces of the deflected cantilevers also act as the passive contact force between the switch contacts. The opening force is actively created by the curved-electrode actuators, which are utilized close to their best electromechanical operating point resulting in a maximum contact separation force. The theoretical discussion of the new concept as compared to conventional switch designs is supported by simulation results, measurements on fabricated devices, and by an analysis of exemplary switches published in the literature.1735     

PVDF力觉传感器的研究

提出了一种利用有机压电材料PVDF制作机器人腕力传感器的新方法。它利用弹性体的变形及PVDF的拉伸-电特性,使力传感器直接输出六路电荷信号对应传感器的三向受力。这种传感器应用于动态测力时,响应速度快,无时漂,长期使用不用重新标定。     

双层预紧式6维力传感器预紧力对精度影响分析

针对传统Stewart结构6维力传感器性能的不足,设计并研制了一种双层预紧式6维力传感器,并进行了精度分析与实验研究.首先,介绍了该6维力传感器的结构特点,基于螺旋理论建立了其数学模型以及预紧力的数学描述形式.为了提高传感器的测量精度,在分析预紧支路结构的基础上,通过增大预紧力来降低由于预紧支路结构变形产生的误差.其次,对不同预紧力下预紧支路的结构变形进行了有限元仿真.最后研制并开发了6维力传感器样机和标定系统,进行了不同预紧力情况下的标定实验.通过增大预紧力,传感器的最大Ⅰ类误差和Ⅱ类误差分别由满量程的2.73%、2.43%降低到0.41%、0.64%.实验结果表明,增大预紧力有效地降低了预紧支路变形带来的测量误差,提高了传感器的测量精度,从而验证了理论分析与仿真的正确性.     

力敏Z􀀁元件与新型力数字传感器

数字传感器是一种新型传感器.由于它有一系列优点,近年来日益受到广泛地关注.文中简述了由力敏Z-元件构成的新型力数字传感器的最新研究成果,展望了它的产业化方向.简述了力数字传感器的特性、电路结构和工作原理,提出的一些新概念.     

智能力敏传感器的研制

针对传统的差压密度计和压力式液位计分别存在可靠性不高、不适用于介质密度经常变化的场合的问题,设计了一种基于Freescale MC9S08AW60微控制器的智能力敏传感器,详细介绍了该传感器主要电路的设计。该智能传感器实现了数据采集、信号处理、数据通信和电流环输出式数模转换功能。实际应用表明,在-20～+80℃的工作温度范围内,密度测量精度可达±5kg/m3,液位测量不受悬浮液回流和液位波动的影响,很好地满足了工业现场的应用。     

基于网络的力觉临场感的实现

文章利用游戏杆装置进行了遥操作机器人的力反馈控制。控制的关键是如何正确地描述移动机器人与环境之间的作用力,使之正确地反映给远端的操作者,从而有效地完成控制。本文利用“弹簧-阻尼器”系统模型来描述力,并将其映射到游戏杆上,变成操纵方向的约束力。通过采用微软公司的带有力反馈的操纵杆作为力觉提示装置控制移动机器人小车在非结构化环境下顺利运行,验证了力反馈描述方法的有效性。     

自适应中心引力优化算法

针对函数全局优化问题,提出了一种自适应中心引力算法,以平衡全局探测能力和局部搜索能力。首先定义粒子的适应值函数,然后根据与平均适应值的比较,更新粒子运动时间,并引进交叉操作更新当前粒子位置,从而提高算法的收敛速度。最后选择8个典型测试函数进行测试,并与中心引力优化算法和其他粒子群优化算法进行比较。结果表明,该算法得到的结果十分精确,鲁棒性强,优于其他算法。     

端子压力监视器的设计

端子压力监视器是使用高灵敏度的压力传感器来检测端子压力是否合格的一种产品。本文介绍了基于Cygnal C8051F310的端子压力控制仪器的软硬件设计．系统包括传感器模块，存储器模块，A／D模块，I／O模块．RS232串行通信接口以及上位机的应用程序。实验结果表明．该监视器具有较高的可靠性，能够准确地判断出合格品和次品。     

冗余并联机构的力控制

为了实现力反馈遥操作系统中的力反馈，介绍了一种用作力反馈主手的驱动冗余并联机构，并提出了一种简单的力控制算法。这种方法首先由机构的逆解计算其力映射矩阵、雅可比矩阵。然后，基于消除冗余并联机构固有内力的原则，由冗余并联机构的末端力得到机构各个主动关节的驱动力。由于并联机构的逆解比正解简单，这种方法能够大大地简化计算。实验结果表明，这种算法能快速、精确地完成力控制。     

轧制力测量技术

介绍冶金工厂轧机轧制力测量的原理、设备特点和使用时应注意的技术问题。