AD693在四足机器人力信号调理中的应用

Application of AD693 in quadruped robot force signal conditioning

为了实时检测JQRI00型四足机器人行走过程中腿部受力状况,利用半导体应变片感知机器人腿部液压缸的受力,设计了以AD693为核心的调理电路,对电路的设计要点进行了详细的分析介绍。并通过在四足机器人原理样机上试验,对该调理电路的输出信号进行了数据采集实验验证,得到了四足机器人腿部受力与输出电流之间的关系。试验结果表明,根据该调理电路输出电流的大小,能够准确的判断四足机器人腿部运动状况,为机器人在不可预知的路面行走提供了参考依据,从而提高了机器人在有沟壑、障碍物等复杂地形行走的能力。

To detect the stress state of the leg of the quadruped robot JQRI00 during the process of walking,use semiconductor strain gages to perceive the stress state of hydraulic cylinder.A conditioning circuit is designed on the basis of AD693,meanwhile the essentials of the circuit are given in detail.Through the experiments on the prototype of quadruped walking robot,data acquisition experiment has been verified for the output signal of the conditioning circuit.The relationship between stress state of the leg and output current has been obtained.The results indicate that according to the output current magnitude of the conditioning circuit,the stress state of the leg of the quadruped robot JQRI00 can be predicted accurately and valuable references can be offered when walking on unpredictable road.Thus the ability of the quadruped robot JQRI00 to walk on some complex terrain such as ravine,roadblocks has been improved.