一种水下灵巧手指端力传感器的研究

采用水压力补偿技术，设计了基于圆筒式测力结构的水下灵巧手指端力传感器，分析了其工作原理。采用有限元法计算了圆筒式测力结构的应变分布，验证该结构的合理性，由此推导出测量原理方程。采用有限元法对模型进行模态分析，确定了传感器的工作带宽。在陆上对传感器进行标定实验，根据实验数据计算出标定矩阵。性能测试结果显示，在陆上和浅水环境中测量结果一致，验证了该传感器在陆上标定是可行的。该传感器可用于水下，且测试精度满足目前水下灵巧手研究的要求。

Development of Fingertip Force Sensor for a Dexterous Underwater Hand

This paper described the development of fingertip force sensor based on cylindrical elastic body employing the water pressure compensation technique, and analysed the principle. The finite-element method was employed to calculate the strain distribution of the cylinder elastic body, which proved the reasonableness of the structure and supplied reference datum for the test research. Furthermore, the equation was inferred for measuring force. Model analysis was conducted by using finite-element method in order to get the bandwidth. A calibration matrix was concluded after the calibration. The test results indicate that the characteristics of the sensor under the water are the same as that on land, which proves the feasibility of calibration on land and can be used underwater. And the measurement accuracy meets the demands of research on dexterous underwater hand.