用于机械臂末端感知的激光测距传感器设计

doi:10.13973/j.cnki.robot.2014.0519

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引用本文:
张禹, 孙奎, 张元飞, 刘宏, 朱万彬. 用于机械臂末端感知的激光测距传感器设计[J]. 机器人, 2014, 36(5): 519-526,534.DOI: 10.13973/j.cnki.robot.2014.0519. ZHANG Yu, SUN Kui, ZHANG Yuanfei, LIU Hong, ZHU Wanbin. Design of a Laser Range Finder for End Perception of Robot Arm. ROBOT, 2014, 36(5): 519-526,534. DOI: 10.13973/j.cnki.robot.2014.0519.

摘要

为了提高轻型机械臂的末端感知及操作能力，研制了一种用于轻型机械臂末端感知的近距离大测量范围的高集成化微小型激光测距传感器．基于三角法测距原理，以线阵CCD 作为光敏感元件，以FPGA 作为主控器，根据传感器分辨率的分布要求设计光学系统，使传感器具有测距范围大、测量最近距离近和测量速度快的显著优点．传感器利用光机电一体化设计思想，采用柔性PCB 折叠电路、微小型光学元件和机械封装，实现了高集成化微型化设计．所研制的激光测距传感器测距范围为25mm ～ 350mm，体积47mm×50mm×15mm，质量70 g，测量时间1 ms．实验结果表明，该测距传感器易于集成于机械臂控制系统，适用于末端感知，能够有效提高轻型机械臂末端定位精度．

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关键词 ：机械臂, 末端感知, 激光测距传感器, 激光三角法

Abstract：

In order to improve the operation and the end perception abilities of light-weight robot arm, a micro laser range finder is developed, which is highly integrated with a wide range and a shorter minimum measurement range. The range finder is designed based on the triangulation ranging theory. It adopts the linear CCD (charge-coupled device) as the light sensor, and the FPGA (field-programmable gate array) as the main controller chip, and the optical system of the sensor is designed according to the distribution requirements of the resolution. Thus, the range finder has a wide measurement range, a shorter minimum measurement range and a high measuring speed. To realize the high integration and miniaturization design, the range finder utilizes the design concept of the optics, mechanism and electricity unitization, which adopts the flexible and foldable PCB (printed circuit board) circuit, miniature optics units and miniature mechanical packaging. The measuring range of the range finder is 25mm ～ 350 mm, size is 47mm×50mm ×15 mm, mass is 70 g and the measuring time is 1 ms. The experimental results show that the laser range finder is easy to be integrated in the robot arm control system and suitable for end perception, and improves the light-weight robot arm end positioning accuracy.

Key words： robot arm end perception laser range finder laser triangulation

收稿日期: 2014-03-07 录用日期: 2014-07-10

:	TP212
	TN247

基金资助:

国家973计划资助项目（2013CB733103）

通讯作者: 孙奎，sunkui@hit.edu.cn E-mail: sunkui@hit.edu.cn

作者简介: 张禹（1984-），男，博士生．研究领域：空间机器人技术，传感器．
孙奎（1974-），男，博士，讲师．研究领域：空间机器人技术，冗余度机器人控制．
张元飞（1983-），男，博士，讲师．研究领域：机器人技术，灵巧机械手以及传感器．

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.2014.0519 或 https://robot.sia.cn/CN/Y2014/V36/I5/519

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