摘要
为了实现空间机械臂的主动柔顺控制,成功研制了一种基于电阻应变原理的新型关节力矩传感器。该传感器采用轮辐式弹性体设计,具有机械过载限位保护和温度补偿等功能。通过ANSYS软件的有限元分析,验证了其结构设计的合理性和良好的线性特性。对力矩传感器进行标定实验,结果表明其静态指标满足设计要求。
In order to achieve the active compli- ance control of a space manipulator, a joint torque sensor is successfully developed based on the prin- ciple of resistance strain. The sensor used the spoke-structure elastomer design, with the func- tions of mechanical overload＇s limit protection and temperature compensation. Through the finite ele- ment analysis with ANSYS, its structural design and good linearity were well verified. Then, the calibration experiment was conducted. The results show that the static indicators meet the design re- quirements.
出处
《机械与电子》
2015年第7期77-80,共4页
Machinery & Electronics
关键词
电阻应变
力矩传感器
弹性体
迟滞
resistance strain
torque sensors
elastomer
hysteresis
