高灵敏度深小孔压电钻削测力仪的研制

研制了用于测量深小孔钻削加工的高灵敏度压电式动态测力仪。通过分析深小孔钻削加工的特点,明确了该条件下测力仪应具备的高灵敏度等性能。为了使测力仪具有高灵敏度的性能,从传感器测力原理及测力仪的结构等方面进行了详细论述。讨论了两种扭矩测量方法,分别设计了最简捷的测力仪结构形式,进行了相应的实验,对结果进行了比较和分析。静、动态标定结果证明,双传感器分布结构的测力仪灵敏度高,动态性能、精度等均达到规定标准。在此基础上,分别进行了测力仪灵敏度一致性实验和实际钻削加工验证测试,测量结果表明,在测力仪的测试区域内均可准确、可靠地测量出深小孔钻削力。     

新型五指仿人型机器人灵巧手触觉传感器设计及其静态标定

介绍一种应用于HIT/DLR II五指仿人型机器人灵巧手的新型触觉传感器,并对该传感器的工作原理进行阐述.该触觉传感器基于压阻原理,具有高度集成和微型化的特点.该传感器采用了柔性结构设计,表面嵌入多个电极,传感器数据通过电极列阵进行扫描采集.最后,进行了传感器的静态标定实验,验证了传感器性能.     

水下灵巧手的结构优化及控制系统设计

设计了3指水下灵巧手及其防腐密封结构,对结构参数进行了优化设计.基于CAN总线构建了灵巧手控制系统.根据优化设计结果研制了3指水下灵巧手原理样机,测试结果表明,该灵巧手可灵活抓取多种复杂表面的物体,部分代替人工水下作业.     

海水吸光度测量系统的搭建及误差来源分析

为了研究海水吸光度传感器的工作原理和误差来源,搭建了搭载645 nm光源的海水吸光度测量系统,根据郎伯-比尔定律、误差传递原理和吸光度传感器结构,对海水吸光度测量系统进行了分析,并通过重复性测试和吸光度测量实验对该系统的稳定性和吸光度探测能力进行了实验验证.重复性测试实验结果显示,使用测量前标定的方法可以将误差控制在±...     

压磁式非接触测力传感器的研究与设计

为了实现动态在线测力,以便对设备实施工况监测和故障诊断,设计了一种三磁极压磁式非接触测力传感器.论述了传感器的结构与工作原理,导出了该传感器感应电压输出方程.通过试验,分析了传感器励磁电流强度、频率以及测试磁隙对其输出特性的影响,确定出了合理的磁隙范围.实测结果表明,压磁式非接触测力传感器所能达到的测试精度和灵敏度能够满足一般工程应用要求.     

自标定重载并联四维测力台测量机理与标定试验

面向航空航天领域对重载大测力面积多维测力台研发的迫切需要,为克服现有多维力传感器研制后均需繁冗的加载标定,采用提出的多维力传感器“自标定”设计理念,通过构建机械解耦测力分支并辅以并联正交分布结构,提出一种新型弱耦合自标定重载并联正交四维测力台构型。基于滚动摩阻理论分析与论证其解耦测量机理与自标定原理。在此基础上,设计并研制了该自标定重载并联四维测力台及其标定加载系统,标定试验结果表明,该四维测力台最大测量误差为0.62%,最大耦合误差为0.56%,论证了其解耦及自标定特性,从而为该自标定重载并联四维测力台的实际应用奠定基础,也为研制大量程重载并联多维力传感器提供了新思路。     

测力式精密扎捆机的研制

本文主要阐述测力式精密扎捆机的传动系统与结构设计,气马达参数计算,控制阀的工作程序,测力传感器的结构与工作原理以及性能测试的结果。     

大量程预紧式六维力传感器及静态标定研究

提出一种新型的基于6/3-3 Stewart结构的大量程预紧式六维力传感器,介绍了传感器的结构特点和测量原理.假设传感器为线性系统的情况下,研究超静定受力状态下的静态标定原理.并给出两种求解标定矩阵的标定方案.为了改善维问耦合和制造误差等因素带来的非线性影响,利用误差反传算法和径向基函数神经网络,研究传感器的非线性静态标定方法.最后对传感器样机进行静态标定实验,给出了4种标定方案的实验结果并进行比较.标定结果表明该六维力传感器具有较好的测试精度.4种方法有效地解决了预紧式传感器超静定受力而带来的标定难题.     

整体式压电三向车削测力仪的研制北大核心CSCD

针对三维动态车削力的测量需求及刀杆式、平台式压电测力仪的不足,研制了一种带有双弹性环结构的整体式压电三向车削测力仪。设计了测力仪的2种结构方案,并对比了2种方案的优劣,阐述了测力仪和压电测试系统的测量原理,对测力仪进行了静态标定实验和动态冲击实验,实验结果表明:测力仪具有优良的静、动态性能,满足了动态车削力的测量需求。     

光反射法微摩擦测试仪

为研究MEMS的微摩擦需设计一种能够测量微米尺度样品摩擦特性的专用仪器,尤其是能进行微机构摩擦力和正压力测试的大范围、高灵敏度的微摩擦检测装置。给出了一种基于光反射法的微摩擦测试仪的设计方法,介绍了该仪器的设计原理、测力传感器的结构设计、仪器的标定方法。硅测力传感器采用MEMS工艺制作,具有变形量大、线性度好、灵敏度高等优点。实验结果表明,该测试仪能满足微机电系统微摩擦测试的需要。     

A fingertip force sensor for underwater dexterous hand

In order to safely grasp an unknown object and accurately perceive its position in the fingers, a finger-tip force sensor which can detect the force and position simultaneously was developed for the underwater dexterous hand. This paper introduced the finger-tip force sensor model which was built by a cylinder elastic body. The principle of force measuring was analyzed theoretically, which proved the reasonableness of the structure and the equation was inferred for measuring force. Because of nonlinear and coupling, a feedforward artificial neural network was employed to calibrate the sensor utilizing the data which were obtained from the tests. The characteristic tests of the sensor showed the maximum error was below 6% in force measurements and the maximum position error was Φ1.6 mm. Then, the application experiments were carried out and the results showed the finger system can track the expectation of force trajectory, which indicated measurement accuracy of the sensor met the demands of research on the underwater dexterous hand. What’s more, the sensor structure can compensate the effect of water pressure. So the sensor can be integrated into the finger of the underwater manipulator and used under the water.     

A novel self-decoupled four degree-of-freedom wrist force/torque sensor

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.     

Study on offset measurement of underwater high-speed moving body based on single induction coil

In this paper, a new offset measurement method for underwater rod-shaped high-speed moving body has been presented. Based on the principle of electromagnetic induction, the offset test reference model of the underwater detection sensor was developed to analyze the influence of offset on the induced electromotive force of the underwater inductive sensor. Moreover, simulations by MATLAB was carried out to analyze the influence of offset on the induced electromotive force of the measurement system while underwater high-speed moving body passing through the induction coil in different direction. Two important factors correlated closely with the offset were obtained, which are the amplitude and the width between the adjacent peak and peak-valley of the induced electromotive force caused by the high-speed moving body through the induction coil. And most importantly, an offset measurement experiment of underwater high-speed moving body based on single induction coil was conducted to validate the simulation results obtained above. By comparing the experiment results with the simulation data, the new offset measurement method put forward in this work was proved to be feasible.     

基于Stewart机构的六维力/力矩传感器

基于Stewart机构的六维力/力矩传感器是一种十分优越的测力传感器,具有测力接触面大、承载能力强、量程大、测力信息丰富等优点,可被广泛应用在航空机器人、航空航天技术及宇宙空间器的对接试验、风洞试验等场合。根据以上特点,阐述Stewart机构的六维力/力矩传感器的测力原理,分析传感器的受力变形,零部件设计尺寸和理论尺寸的制造误差及安装误差对其测力精度的影响,并对其结构参数进行优化设计。提出一种标定方法,研究其标定算法。对自主研制的Stewart六维力/力矩传感器进行标定试验,得出该传感器的标定矩阵。研究结果表明,用标定矩阵代替传感器理论影响系数矩阵参与6个单向力传感器输出信号的耦合,能够有效地提高该传感器的测力精度。     

一种水下机器人用多轴力传感器的结构设计

水下机器人用多轴力传感器的设计必须首先解决水压力平衡的问题。通过对几种典型的机器人用多轴力传感器结构在水压作用下的应力、应变进行分析，得到这几种结构的特点和适用条件：实心的柱体可以承受深水压力，但由于海水的腐蚀作用，开放式柱体不适合作为弹性体；充油或充气的刚性封闭的薄壁结构不能承受深水压力；带补偿膜的薄壁圆筒结构只能承受浅水压力的作用；用软外囊封包的结构可以承
受深水压力，实现足够大的体积变化而不致被破坏，但存在容易破损以及形状、质心不定的缺陷。提出一种水下机器人用多轴力传感器自适应结构的设计构思，这种结构兼有开放式和封闭式结构的优点。按照这种设计构思已试制出原型样机     

Dynamic characteristics of piezoelectric six-dimensional heavy force/moment sensor for large-load robotic manipulator

This paper presents research on dynamic characteristics of a piezoelectric six-dimensional heavy force/moment sensor for a large-load robotic manipulator. The theory on dynamic characteristics of the sensor structure is analyzed, and a mathematical model of the sensor dynamics, decoupled into separate vibration modes, is provided. This model is complemented by dynamic mode analysis of the sensor by finite-element modeling (FEM; ANSYS software). A dynamic calibration experiment is designed, and methods and principles for measurements and data analysis are provided. The characteristic dynamic vibration modes of the piezoelectric force/moment sensor are extracted by analyzing experimental data, yielding amplitude frequency and phase frequency curves of the transfer function linking the excitation loads with the output signals of the transducer. The results of the dynamic calibration experiment demonstrate the good dynamic characteristics of the piezoelectric six-dimensional heavy force/moment sensor. The natural frequencies in the three force directions are high, with values close 2000 Hz. This demonstrates the applicability of the presented six-dimensional heavy force/moment sensor to large industrial robotic manipulators.     

一种新型水下机器人用六维腕力传感器

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。     

立式加工中心主轴静刚度测试的新方法

介绍了一种立式加工中心主轴静刚度测试的新方法及进行的试验研究。以立式加工中心XH7132为研究对象,采用应变式力传感器作为测力装置,并用最小二乘法对其进行标定,用标定后的应变式力传感器、电阻应变仪、电感测微仪对主轴静刚度进行测试,得出主轴的静刚度值。     

一种机器人多轴腕力传感器弹性体有限元分析

建立一种机器人腕力传感器弹性体的静、动特性的有限元计算模型,分析传感器弹性体在各种工况下的应力分布规律以及固有振动的频率和振型,为改进传感器的弹性体的设计,进行传感器结构的优化设计进行前期的准备。     

Torque sensor calibration using virtual load for a manipulator

Accurate load sensing of a manipulator becomes increasingly important in performing various tasks involving contact with an environment. Most of the research has been focused on improving the hardware of a force/torque sensor. The torque sensors for a manipulator suffer from crosstalk, which is difficult to compensate for even with sophisticated calibration. This research proposed a novel calibration method composed of two steps. Through the primary calibration, the torque sensor output can be related to the joint torques. The secondary calibration, which is based on a virtual load, is conducted to compensate for the crosstalk of a torque sensor. The virtual load is obtained from the sensed joint torques and manipulator configuration. Using the proposed calibration method, the external load acting on the end-effector of a manipulator can be accurately measured even with relatively low-quality torque sensors. The experimental results showed that the error in the load sensing was significantly reduced by the proposed calibration method.