一种机器人光电式滑觉传感器的研究

Study on Photoelectric Type Slipping Sensor for a Robot

为实现机械手对易碎物品的无损伤抓取 ,要求机械手具有滑觉检测功能。本文设计了一种光电式滑觉传感器 ,它由红外光电器件和一个具有反射镜面的弹性体组成。当物体有相对滑动时会引起反射镜面的振动 ,由此引起光电传感器的输出信号发生变化。对传感器信号进行一定的数学处理 ,就可以判别物体的相对滑动。本文通过实验分析 ,建立了滑动程序判别模型 。

In order to grasping fragile objects without damage,the manipulator must have slipping detection function.A photoelectric type slipping sensor consisting of IR photoelectric devices and an elastomer with a reflector is described in the paper.The reflector will be vibrated when the object is slipping,thus the output signal of the photoelectric sensor will be changed.After certain mathematical processing is carried out for the sensor signal,the relative slipping of the object can be judged.A judgement model for slipping procedure is set up through the experimental analysis.The grasping of fragile objects such as eggs without damage can be performed with electric hydraulic manipulator by means of the model.