| 新型力解耦机器人六维力传感器研究 |
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| 引用本文： | 姚智慧,张付祥.新型力解耦机器人六维力传感器研究[J].传感技术学报,2002,15(4):387-391. |
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| 作者姓名： | 姚智慧 张付祥 |
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| 作者单位： | 哈尔滨工业大学机电学院,哈尔滨,150001 |
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| 摘 要： | 用应力分析的方法得到了一个可用于测力的应用测量原理 ,根据该原理设计了一种新型六维力传感器 ,分析了其受力与变形元件测量点应力的对应关系。分析结果表明该传感器的输出是力解耦的 ,具有结构简单 ,工艺性好等优点 ,可应用在仿人行走机器人脚部以及其它类型机器人需要使用多维力传感器的场合
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| 关 键 词： | 机器人 六维力传感器 应力分析 应力测量原理 弹性体 解耦 |
| 文章编号： | 1004-1699(2002)04-0387-05 |
| 修稿时间： | 2002年6月19日 |
Research of a Novel Decoupled Six-Ax is Force Robot Sensor |
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| YA O Z h ihu i ZH A N G Fux iang.Research of a Novel Decoupled Six-Ax is Force Robot Sensor[J].Journal of Transduction Technology,2002,15(4):387-391. |
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| Authors: | YA O Z h ihu i ZH A N G Fux iang |
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| Affiliation: | H arbin Institute of T echnolog y , H arbin, 150001 P. R. China |
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| Abstract: | Deduced the principle of stress measurement which can be used for force measurement by the method of stress analysis, designed a new type six axis force sensor according to the principle, and analyzed the relationship of the force on the sensor and the stress at the measuring points of the elastic elements. The results show that the sensor's output is decoupled and it has simple architecture and good technological advantage. It can be used on the feet of a biped robot imitating human walking and other type of robots when multi axis force sensors are needed. |
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| Keywords: | robot six axis force sensor stress analysis principle of stress measurement elastic body decoupling |
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