摘要
十字梁腕力传感器广泛应用于机器人系统。腕力传感器的响应特性决定了传感器应变片的粘贴和传感器的标定方法 ,也影响机器人系统的动态特性。针对十字梁六维腕力传感器的结构特点 ,以Lagrange方程为基础 ,建立六维腕力传感器的动力学模型 ,研究腕力传感器在力 (力矩 )作用下的响应特性以及传感器参数对传感器响应的影响。
Cross-beamed wrist force sensor is widely used in robot system.The response characteristics of wrist force sensor determined the sticking of sensor's strain gauge and sensor's orientation method and also affected the dynamic characteristics of robot system.Directs against the structural characteristics of a cross-beamed 6-dimensioned wrist force sensor and takes Lagrange equation as a foundation,this paper establishes dynamics model of the 6-dimensioned wrist force sensor,studies response characteristics of the wrist force sensor under the action of force (moment of force)and the influence upon the response of sensor affected by parameters of sensor.
出处
《机械设计》
CSCD
北大核心
2002年第2期16-18,0,共3页
Journal of Machine Design
基金
安徽省自然科学基金资助项目 (0 0 0 4 331 0 )
