智能化腕力传感器的设计

本文分析了十字梁结构六维腕力传感器的工作原理与存在问题，提出了简化应变电阻贴片、机械结构、电路与数据处理的智能化设计方案．本文提出的三主梁结构传感器中，用六个应变电阻来测量六维力．因此，简化了应变电阻、放大、模数转换电路，利用PIC14000微控制器采样数据求算出实际的力与力矩值．采用I2C总线，根据上位机要求发送所需的测量值与微分信号等数据．

DESIGN OF AN INTELLIGENT WRIST FORCE TRANSDUCER

The working principles and the existing problems of the crossbeam structure wrist force transducer with six degree of freedom are analyzed, and an intelligent scheme that reduces the number of strain gauges and simplifies the mechanism structure, the electric circuits, and the data dealing is proposed. In the three main beam transducer proposed in this paper, only six strain gauges are required to measure the six degree of freedom force. So, the strain gauge, amplifier and A/D converter circuits are further simplified, and the micro controller PIC14000 is used to sample the data and convert them into actual force and moment values. With the I 2C bus, the measured value and differentials can be transmitted to the host.