| 机器人触觉传感器的力学分析与研究 |
| |
| 引用本文： | 常晓丽,付巍. 机器人触觉传感器的力学分析与研究[J]. 机械工程与自动化, 2004, 0(2): 20-22 |
| |
| 作者姓名： | 常晓丽 付巍 |
| |
| 作者单位： | 华北工学院,自动控制系,山西,太原,030051 |
| |
| 基金项目： | 山西省教育厅三晋学子创新项目 (330 82 ) |
| |
| 摘 要： | 触觉传感器是实现机器人触觉感知的最关键器件．直接影响机器人感知外界环境和自身状态能力的大小。敏感单元是触觉传感器的核心器件。以E型方膜结构的敏感单元为例，建立微型触觉传感器的三维力学模型，计算了微型触觉传感器敏感单元的理论值，并与有限元(FEM)分析得到的值相比较，得出了E型方膜结构类型传感器的静态特性和动态特性，讨论了静态和动态特性对结构的敏感性，为传感器的优化设计提供依据。
|
| 关 键 词： | 机器人 触觉传感器 力学分析 E型方膜结构 敏感单元 有限元 |
| 文章编号： | 1672-6413(2004)02-0020-03 |
| 修稿时间： | 2004-01-05 |
Mechanics Analysis and Study on Tactile Sensor of Robot |
| |
| CHANG Xiao-li,FU Wei. Mechanics Analysis and Study on Tactile Sensor of Robot[J]. Mechanical Engineering & Automation, 2004, 0(2): 20-22 |
| |
| Authors: | CHANG Xiao-li FU Wei |
| |
| Abstract: | The tactile sensor is the most key device that can realize robot touch perception, directly affect the capability of the robot percept environment and status of itself.The sensitive cell is the nucleus device of the tactile sensor. This text takes the sensitive cell of E-type square as an example, modeling three-dimensional static mechanics model. By means of comparative analysis between theories and finite element method (FEM) of the sensitive cell of micro-tactile sensor, the static and dynamic properties of E-type square diaphragm for sensors are presented. Their sensitivities is also discussed.These can provide bases and supports for optimum design of this kind of sensors. |
| |
| Keywords: | tactile sensor finite element method mechanics analysis |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
|
