六维力/力矩传感器研究发展综述

Review on Research and Development of Six-Axis Force/Torque Sensor

六维力/力矩传感器是机器人实现柔顺化、智能化操作的关键传感设备,目前已广泛应用于工业机器人、康复医疗机器人、空间机器人等智能化装备。介绍了国内外六维力/力矩传感器弹性体结构的研究现状及发展趋势;详细论述了全方位机械过载保护与动态性能两个方面的关键技术问题;分析了在常规环境和航空航天、深海等特殊环境的应用现状,着重阐述空间六维力/力矩传感器机械过载保护、温度补偿及容错关键技术问题和深海六维力/力矩传感器压力动态平衡、密封及防腐蚀等关键技术问题;并对六维力/力矩传感器的发展方向进行了展望。

The six-axis force/torque sensor( SAF/TS) is one of the key sensors in compliant and intelligent robotic applications. It has been widely used in industrial robots,rehabilitation medical robots,space robots and other intelligent equipments. The research progress and development trends of SAF/TS elastic structure both at home and abroad are introduced. The key technologies of all-round mechanical overload protection and dynamic performance are elaborated specifically. The status quo of application in conventional and special environments such as aerospace and deep sea are analyzed,and the key techniques are mainly described such as overload protection,temperature compensation and fault-tolerant,as well as the pressure dynamic balance,sealing and anti-corrosion of SAF/TS. The development of SAF/TS is also predicted.