| 气动柔性手指的位置检测系统设计 |
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| 引用本文： | 徐生,鲍官军,杨庆华.气动柔性手指的位置检测系统设计[J].计算机测量与控制,2008,16(6):772-773,784. |
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| 作者姓名： | 徐生 鲍官军 杨庆华 |
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| 作者单位： | 1. 浙江工业大学工智能机械制造及自动化省部共建教育部重点实验室,浙江杭州,310032;浙江工商职业技术学院,浙江宁波,315012
2. 浙江工业大学工智能机械制造及自动化省部共建教育部重点实验室,浙江杭州,310032 |
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| 摘 要： | 基于气动柔性弯曲关节,设计了三关节气动柔性手指,针对该手指指尖位置检测和控制的需要,设计了基于PSD的指尖位置检测系统;在气动柔性手指指尖上安装一个点光源,与手指平行设置一块PSD光敏面,手指指尖运动轨迹通过点光源反映在PSD光敏面上,PSD将光源轨迹转换成电流信号.通过调理电路将电流转换成电压信号并放大,用PCI-1711数据采集卡采样电压信号,通过软件处理计算出手指指尖的位置和运动轨迹;实验表明在保证手指安装位置精度的条件下,能够得到比较精确的结果。
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| 关 键 词： | 柔性手指 位置 PSD 检测系统 |
Design of Position Detecting System of Pneumatic Flexible Finger |
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| Xu Sheng,Bao Guanjun,Yang Qinghua.Design of Position Detecting System of Pneumatic Flexible Finger[J].Computer Measurement & Control,2008,16(6):772-773,784. |
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| Authors: | Xu Sheng Bao Guanjun Yang Qinghua |
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| Affiliation: | 1.MOE Key Laboratory of Mechanical Manufacture and Automation,Zhejiang University of Technology,Hangzhou 310032,China; 2.ZheJiang Business Technology Institute,Ningbo 315012,China |
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| Abstract: | Based on pneumatic flexible joint,pneumatic finger is designed.According to the requirements of control and the position de- tecting of the fingertip of pneumatic flexible finger,position detecting system of fingertip based on position sensitive detector (PSI)) is de- signed.The photosensitive plane receives the light radiated from the lamp-house fixed on the fingertip,and the track of fingertip reflects as the track of light.The track is transformed to current which is transformed to voltage by adjustment circuit.The voltage signal is sampled through PCI-1711 data sampling card and the soft computes the track and position of fingertip.The experiment shows that the detecting system is feasible and can meet the precision demand. |
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| Keywords: | flexible finger position PSD detecting system |
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