| 基于六维腕力传感器的机械手动态响应研究 |
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| 引用本文： | 干方建,刘正士.基于六维腕力传感器的机械手动态响应研究[J].组合机床与自动化加工技术,2001,7(10):11-14. |
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| 作者姓名： | 干方建 刘正士 |
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| 作者单位： | 1. 中国科学技术大学经济技术学院
2. 合肥工业大学 |
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| 基金项目： | 安徽省自然科学基金项目(项目编号:00 043310) |
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| 摘 要： | 十字梁腕力传感器广泛应用于机器人系统。腕力传感器的响应特性影响机器人系统的动态特性，也决定了传感器应变片的粘贴和传感器的标定方法，本文针对安装有十字梁六维腕力传感器的机械手系统的结构特点，以Lagrange方程为基础，建立机械手的动力学模型。研究机械手在力（力矩）作用下的响应特性以及机械手系统参数对机械手末端响应的影响。
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| 关 键 词： | 机械手 传感器 模型 动态特性 |
| 文章编号： | 1001-2265(2001)10-0011-04 |
| 修稿时间： | 2001年5月6日 |
The research on dynamic responses of a manipulator based on 6 -dimension wrist force sensor |
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| GAN Fangjian,LIU Zhengshi.The research on dynamic responses of a manipulator based on 6 -dimension wrist force sensor[J].Modular Machine Tool & Automatic Manufacturing Technique,2001,7(10):11-14. |
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| Authors: | GAN Fangjian LIU Zhengshi |
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| Affiliation: | GAN Fangjian LIU Zhengshi |
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| Abstract: | Crossed-beam wrist force sensor is widely used in robot system today. The sensor's strain gauge sticking and orientation method is determined by the dynamic response characteristics of the sensor, and the dynamic characteristics of a robot system is effected by the dynamic response characteristic of the sensor. In this paper, dynamic model of a crossed-beam wrist force sensor with an only one-arm manipulator is established based on Lagrange equation and on the sensor and manipulator's structure features. A dynamic response characteristic of the manipulator is investigated, and the system parameters affect on dynamic response is analyzed. |
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| Keywords: | manipulator sensor model dynamic response |
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