摘要
基于气动柔性弯曲关节,设计了三关节气动柔性手指,针对该手指指尖位置检测和控制的需要,设计了基于PSD的指尖位置检测系统;在气动柔性手指指尖上安装一个点光源,与手指平行设置一块PSD光敏面,手指指尖运动轨迹通过点光源反映在PSD光敏面上,PSD将光源轨迹转换成电流信号.通过调理电路将电流转换成电压信号并放大,用PCI-1711数据采集卡采样电压信号,通过软件处理计算出手指指尖的位置和运动轨迹;实验表明在保证手指安装位置精度的条件下,能够得到比较精确的结果。
Based on pneumatic flexible joint, pneumatic finger is designed. According to the requirements of control and the position detecting of the fingertip of pneumatic flexible finger, position detecting system of fingertip based on position sensitive detector （PSD） is designed. The photosensitive plane receives the light radiated from the lamp house fixed on the fingertip, and the track of fingertip reflects as the track of light. The track is transformed to current which is transformed to voltage by adjustment circuit. The voltage signal is sampled through PCI-1711 data sampling card and the soft computes the track and position of fingertip. The experiment shows that the detecting system is feasible and can meet the precision demand.
出处
《计算机测量与控制》
CSCD
2008年第6期772-773,784,共3页
Computer Measurement &Control
关键词
柔性手指
位置
PSD
检测系统
flexible finger
position
PSD
detecting system
