摘要
介绍了一种用于机器人关节上的新型力矩传感器,分析了力矩传感器的工作原理.选定了设计变量、状态变量和优化目标,利用ANSYS软件完成了传感器的结构优化设计,得到了合理的优化结果,优化后的传感器重量减轻了16%.分析了有关结构尺寸对传感器承载时XY剪切总应变和Von-Mises等效应力的影响,最后对力矩传感器进行了标定试验,结果表明它的性能指标满足设计要求.
The paper introduces a new type torque sensor used in robots joint and analyzes its working principle. The paper chooses the design variables, state variables and optimization goal, accomplishes the structure optimization based on ANSYS software and gets the optimization results, the weight of sensor after optimization has been reduced 16%. The paper analyzes the influences of some structure dimensions on XY shear total strain and VonMises stress. Finally, the paper conducts calibration test of the torque sensor, it proves that the performance indexes of the torque sensor satisfies the design demand.
出处
《机械与电子》
2009年第6期18-21,共4页
Machinery & Electronics
基金
国家"八六三"计划资助项目(2004AA742201)
关键词
力矩传感器
有限元
优化设计
torque sensor
finite element
optimization design
