摘要
腕力传感器是一类重要的机器人传感器,腕力传感器的弹性体结构设计好坏直接影响到传感器的各项指标。由于腕力传感器结构复杂,各输出通道之间往往存在着干扰,通常采用实验的方法来进行标定,但标定的结果往往不够精确。利用所研制的一种新型机器人多维腕力传感器的结构,提出了一种利用有限元分析软件ANSYS对其维间干扰作定量分析的方法,分析结果证实了该传感器弹性体结构设计的合理性。
Wrist force sensor is one kind of the important robot sensors. The structure of the wrist force sensor has a direct impact on the technical quota. Because the wrist force sensor has a complex structure, the outputs interfere with each other. Usually experimental method can be used to calibrate but get no accurate result. This paper makes a finite element analysis for the elastic body of a new kind of robot wrist force sensor by means of ANSYS which is a FEA software. A fixed quantity of static couple is calculated with the reasonable finite element computation model, and the result of finite element analysis validates the rationality of the structural design.
出处
《传感技术学报》
CAS
CSCD
北大核心
2005年第2期414-417,共4页
Chinese Journal of Sensors and Actuators
基金
霍英东教育基金项目
教育部高校青年教师教学科研奖励计划资助项目。
