王全玉, 赵杰, 蔡鹤皋. 六维柔性腕力传感器的设计研究[J]. 机器人, 1996, 18(5): 279-284.
引用本文: 王全玉, 赵杰, 蔡鹤皋. 六维柔性腕力传感器的设计研究[J]. 机器人, 1996, 18(5): 279-284.
WANG Quanyu, ZHAO Jie, CAI Hegao. STUDY ON THE DESIGN OF SIX-DIMENSION COMPLIANT WRIST F/T SENSOR[J]. ROBOT, 1996, 18(5): 279-284.
Citation: WANG Quanyu, ZHAO Jie, CAI Hegao. STUDY ON THE DESIGN OF SIX-DIMENSION COMPLIANT WRIST F/T SENSOR[J]. ROBOT, 1996, 18(5): 279-284.

六维柔性腕力传感器的设计研究

STUDY ON THE DESIGN OF SIX-DIMENSION COMPLIANT WRIST F/T SENSOR

  • 摘要: 本文主要介绍了六维柔性腕力传感器的结构检测原理,用RPY方法建立了移动体对基座的变换矩阵,并根据PSD检测的位置信号求解出变换矩阵.在此基础上,建立了力向量与位姿向量的关系式,通过刚度矩阵的标定获得力信息.最后介绍了腕力传感器的数据采集及处理系统.

     

    Abstract: This paper mainly introduces the structure and detecting theory of the six-dimension compliant wrist F/T sensor. The transition matrix between the moving base and the fixed base is set up using RPY method. The transition matrix is expressed by the position signals tested by the PSDs. On these bases,the formula of force vector and position vector is built. The force information can be acquired when the stiffness matrix is calibrated. Finally, this paper makes an introduction to the data acquisition and processing system for the sensor.

     

/

返回文章
返回