微形变腕力传感器

Robot's Six-Degree-of-Freedom Wrist Force Sensor by Microdistortion Testing

介绍了一种新型机器人六维腕力传感器.采用了激光干涉法测量由外力施加在弹性元件上产生的由微形变产生的微位移测量原理,使得弹性梁的设计空间更大.特别是传感器动态特性得到了提高.本文详细讨论了弹性元件的设计,包括通过有限元方法对这种弹性元件的定量计算.对于弹性元件形变的检测也是本文的讨论重点.通过激光干涉的方法,传感器的灵敏度得到提高,同时,本文还详细讨论了六维力分别施加于弹性元件时对激光干涉的作用.

A new robot＇s six-degree-of-freedom wrist force sensor was discussed. By adopted Laser interferometer methods, the elastomer can be designed more freely. The dynamic performance of the sensor is improved by this way. The strain sensor elastomer was described in detail, in addition with the process of analyzing by finite element method. The detecting method was discussed too. By the way of Laser interferometer, the sensitive of the sensor was improved. The Six force＇s influence on the laser interfermeter was discussed also.