共查询到19条相似文献,搜索用时 78 毫秒
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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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一种新型水下机器人用六维腕力传感器 总被引:2,自引:0,他引:2
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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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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本文提出了机器人腕力传感器的数学模型,分析了连续接触时传感器的动态响应,讨论了由测量不精确,测量方法的近似及惯性力(包含重力)而引起的三类误差,探讨了各自的补偿方法。文中还探讨了如何由实际控制系统的控制性能要求选择适当的传感器性能参数。本文的研究将促进对与环境相作用的力传感器的动态性能的认识,对机器人的实用化也有着重要意义。 相似文献
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腕力传感器三维自适应动态补偿方法 总被引:3,自引:0,他引:3
在已有的工作基础上,采用机理分析法和实验建模法,确定传感器极点随负载变化的规律,提出三维自适应动态补偿方法,解决动态补偿器自动跟踪传感器模型变化以及多维动态补偿问题。 相似文献
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机器人腕力传感器多维AR模型 总被引:4,自引:1,他引:3
机器人腕力传感器多维AR模型徐科军,杜涛(合肥工业大学自动化所)0引言腕力传感器是智能机器人最重要的传感器之一,能同时检测三维空间的力和力矩信息,广泛应用于机器人精密装配、磨削、轮廓跟踪等作业中,在航空、航天和机械加工等领域也有广阔的应用前景。本文所... 相似文献
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本文在建立系统模型的基础上,着重分析了碰撞后碗力传感器的动态特性。研究表明,当末端效应器与环境碰撞后,传感器将随较大的动态作用力,从而容易被损坏。为此,文中提出了最大动态力的概念,讨论了它的测量方法及对传感器的影响。本文研究对传感器设计及使用具有重要价值。 相似文献
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Yuanyin Li Xianlong Jin Lijun Li Yuan Cao 《The International Journal of Advanced Manufacturing Technology》2006,30(1-2):40-44
A new method, to parallel the dominating computing work of structural dynamic response analysis, is presented in this paper. Then, based on “ShenWei I” supercomputer, MSC.NASTRAN and PATRAN, a parallel and integrated system is implemented. The system tightly couples advantages of the FEA code and high performance of the supercomputer. The system can improve the structural scale and velocity of dynamic response analysis greatly. Finally two examples are presented to demonstrate the validity and efficiency of the system. 相似文献
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Whee-Kuk Kim Kum-Kang Huh Byung-Ju Yi Whang Cho 《Journal of Mechanical Science and Technology》1995,9(4):462-471
The F/T sensor investigated in this study utilizes the Stewart Platform Mechanism Structure. Normally-employed 6-prismatic
joints are replaced by 6-prismatic bars, which are extensible and compressible only along the axial direction of the bars.
The complete analyses for the design of this kind of F/T sensor are conducted: the position analysis, the first-order and
second-order kinematic analyses, and the force-deformation analysis based on the first-order kinematic characteristics of
the system. Lastly, a dimensional synthesis for the F/T sensor is performed based on the kinematic isotropic index. 相似文献
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通过对约束最优化算法的分析研究,分别将复合形法以及内点罚函数法用于结构动力响应可靠性优化中,通过数值算例说明两种算法对结构动力响应可靠性优化的影响。 相似文献
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C. Clark M. Zamora R. Cheesewright M. Henry 《Flow Measurement and Instrumentation》2006,17(6):391-398
The paper identifies the requirements for both a Coriolis flow-tube and the associated flow-transmitter, to achieve an ultra-fast dynamic response. A ‘new’ meter was assembled using a commercially available straight flow-tube, selected for its high drive (fundamental resonant) frequency of about 750 Hz (water-filled) and this was interfaced with a newly extended version of Oxford’s digital transmitter technology. This new transmitter gives measurement updates that are calculated every half drive-cycle, at 1.5 kHz, and are output via a high precision frequency pulse signal. Dynamic response tests in the laboratory and during a field trial have shown the ‘new’ meter to have a response time at least an order of magnitude faster than was reported previously [Clark C, Cheesewright R. Experimental determination of the dynamic response of Coriolis mass flow meters. Flow Measurement and Instrumentation 2006;17:39–47] from tests on the fastest response commercially available Coriolis meters. The ‘new’ meter shows a typical delay of 3.8 ms between a change in fluid flow rate and the corresponding change in the frequency output. Suggested further developments of the new transmitter technology indicate a route that could be followed to produce transmitters suitable for the newly emerging micro-machined Coriolis flow-tubes, which have fundamental resonant frequencies in the range 10–30 kHz. 相似文献
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对机械手仿生基本操作功能和控制策略进行了研究,定义了平动、滚动和旋转的功能模型,分析了利用重力和力平衡实现的多指手操作方法;利用牛顿欧拉公式建立了三关节指的运动学和动力学方程,论述了灵巧控制在生产自动化中的应用前景。 相似文献