智能化腕力传感器的设计

唐慧强, 黄惟一

唐慧强, 黄惟一. 智能化腕力传感器的设计[J]. 机器人, 2003, 25(1): 53-56.
引用本文: 唐慧强, 黄惟一. 智能化腕力传感器的设计[J]. 机器人, 2003, 25(1): 53-56.
TANG Huiqiang, HUANG Weiyi. DESIGN OF AN INTELLIGENT WRIST FORCE TRANSDUCER[J]. ROBOT, 2003, 25(1): 53-56.
Citation: TANG Huiqiang, HUANG Weiyi. DESIGN OF AN INTELLIGENT WRIST FORCE TRANSDUCER[J]. ROBOT, 2003, 25(1): 53-56.

智能化腕力传感器的设计

详细信息
    作者简介:

    唐慧强(1965- ),男,副教授,博士生.研究领域:测控技术及智能系统.
    黄惟一(1933- ),男,教授,博士生导师.研究领域:机器人,测控技术及智能系统.

  • 中图分类号: TP24

DESIGN OF AN INTELLIGENT WRIST FORCE TRANSDUCER

  • 摘要: 本文分析了十字梁结构六维腕力传感器的工作原理与存在问题,提出了简化应变电阻贴片、机械结构、电路与数据处理的智能化设计方案.本文提出的三主梁结构传感器中,用六个应变电阻来测量六维力.因此,简化了应变电阻、放大、模数转换电路,利用PIC14000微控制器采样数据求算出实际的力与力矩值.采用I2C总线,根据上位机要求发送所需的测量值与微分信号等数据.
    Abstract: The working principles and the existing problems of the crossbeam structure wrist force transducer with six-degree-of-freedom are analyzed, and an intelligent scheme that reduces the number of strain gauges and simplifies the mechanism structure, the electric circuits, and the data dealing is proposed. In the three main beam transducer proposed in this paper, only six strain gauges are required to measure the six-degree-of-freedom force. So,the strain gauge, amplifier and A/D converter circuits are further simplified, and the micro controller PIC14000 is used to sample the data and convert them into actual force and moment values. With the I2C bus, the measured value and differentials can be transmitted to the host.
  • [1] 黄惟一,王玉生,薛亚洪.机器人腕力传感器的发展.机器人技术,1987(1)
    [2] 张福学.智能机器人传感技术.北京:电子工业出版社,1996
    [3] 黄心汉,胡建元,王健.一种非径向三梁结构六维腕力传感器弹性体及其优化设计.机器人,1992,9(5)
    [4] 崔维娜,王巍.一种新型水下机器人用六维腕力传感器.仪器仪表学报,2001,8(4)
    [5] 陈建元,黄惟一.机器人腕力传感器应变片组桥方式的改进.传感技术学报,1993(3)
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出版历程
  • 收稿日期:  2002-09-18

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