| 一种新型水下机器人用六维腕力传感器 |
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| 引用本文： | 崔维娜,王巍.一种新型水下机器人用六维腕力传感器[J].仪器仪表学报,2001,22(4):388-390. |
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| 作者姓名： | 崔维娜 王巍 |
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| 作者单位： | 1. 北京化工大学74信箱
2. 北京航空航天大学机器人研究所 |
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| 摘 要： | 本文提出了一种新型水下作业机械手用六维腕力传感器。该传感器具有结构简单，易于加工、密封和水压力补偿的特点。文中介绍了该传感器的机械结构、弹性体的力学模型和力－变形转换矩阵。文章最后对设计的腕力传感器进行了标定，获得了传感器的转换矩阵，并对结果进行了分析。
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| 关 键 词： | 水下机器人 六维腕力传感器 水下作业 |
A Newly Structured Six- axis Wrist Force Sensor for Underwater Robot |
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| Cui Weina,Wang wei.A Newly Structured Six- axis Wrist Force Sensor for Underwater Robot[J].Chinese Journal of Scientific Instrument,2001,22(4):388-390. |
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| Authors: | Cui Weina Wang wei |
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| Affiliation: | Cui Weina1 Wang wei2 1 |
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| Abstract: | This paper provides a six- component wrist F/ T sensor for the underwater executive robot.And the mathematical model of force detecting has been concluded.The transmission matrix of the sensor has been con- cluded.The wrist F/ T sensor has been calibrated.And the result of the calibration test is analyzed. |
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| Keywords: | Underwater robot Six- axis wrist force sensor Underwater execution |
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