主动激励触觉传感器特性分析

Analysis on characteristics of active excitation tactile sensor

通过对机械状态监测诊断技术进行分析,选定声学共振的方法来对机械手进行激励和振动特性的检测。在声学共振检测技术的基础上,设计了一种新型的主动激励触觉传感器结构及其信号调理电路,将其安装于机械手上进行实验。利用LabVIEW软件对声学共振信号进行采集,并在频域范围内对声学共振测试系统的重复性和稳定性进行了验证分析,以及提取了主动激励触觉传感机械手系统在抓取不同物体、不同状态时振动的特征参数。

Mechanical condition monitoring and diagnosis technology is analyzed,and acoustic resonance method is finally selected to detect the excitation and vibration characteristics of the manipulator.Based on the acoustic resonance detection technology,a novel active excitation tactile sensor structure and its signal conditioning circuit are designed and installed on the manipulator for experiment.The LabVIEW software is used to collect the acoustic resonance signal,and the repeatability and stability of the acoustic resonance test system are verified and analyzed in range of frequency domain,and characteristic parameters of vibration of active excitation tactile sensing robot system while capturing different objects and in different state is extracted.