摘要
力矩传感器测量的力矩信息为柔性关节带来力感知能力.针对国内对于柔性关节力矩传感器的研究相对较少的现状,设计了一种用于轻型机械臂柔性关节的新型力矩传感器,建立了弹性体结构的三维模型,利用Workbench进行有限元分析,仿真结果可得弹性体的结构设计满足材料的强度要求.对所设计的传感器进行标定试验,结果表明:该新型力矩传感器静态特性良好,满足柔性关节使用要求.
Torque sensor measurement information brings force sensing ability to the flexible joint. In considering the situation of less researches on torque sensor of flexible joint,a new type of torque sensor was designed for the flexible joint of light-weight manipulator. Three-dimensional model of elastomer structure was established, and the finite element analysis of the elastomer was conducted by the Workbench. The simulation result demonstrates that the structure design of the elastomer can meet the overload capacity. The calibration experiment was carried out, which shows that the designed sensor has good static characteristics and can meet design requirements of flexible joint.
出处
《上海工程技术大学学报》
CAS
2017年第1期5-11,共7页
Journal of Shanghai University of Engineering Science
关键词
力矩传感器
弹性体
有限元仿真
标定
torque sensor
elastomer
finite element simulation
calibration
