基于伺服关节用三维压力传感器的设计研究

Research and Design of Three-dimensional Pressure Sensor Based on the Servo Joint

机器人智能化最重要的是关节智能化,关节智能化取决于伺服关节用三维传感器的灵敏度和精度。针对伺服关节用三维力传感器,开展了基于伺服关节用三维压力传感器的结构设计、应力分析、三维压力传感器的输入输出特性曲线及传感器的标定研究,通过分析可知所设计的三维传感器耦合效应小,可以用于伺服关节的力/力矩测量和相应的实验测试,对机器人智能化关节技术的发展提供了一定的参考。

The key to robot intelligence is joint intelligence. Intelligent joint depends on sensitivity and accuracy of the three-dimensional pressure sensor. The research discussed the structure,stress simulation,input and output characteristics and calibration of three-dimensional pressure sensor based on the servo joint. The conclusion can be obtained that three-dimensional pressure sensor designed has a small coupling effect and it can be applied to measure force,torque and the corresponding experiments. This paper provides a reference for development of intelligent joint technology.