基于位移检测的机器人碰撞传感器研究与设计

Research and design of robot collision sensor based on displacement detection

为了避免机器人末端执行器在工作过程中与周围设备人员发生碰撞,造成设备损坏或者人员伤害,设计一款基于位移检测的机器人碰撞传感器。在对传感器连杆进行力学分析和建立平衡方程式的基础上,根据其碰撞过程中传感器活动部件的运动轨迹,导出了末端执行器空间碰撞力模型及相应的传感器碰撞力阈值计算公式,完成了传感器的设计、动力学仿真、制作装配和静态测试。实验结果表明,该传感器对末端执行器具有碰撞检测和缓冲保护功能,在机器人安全防护和人机协作方面具有一定的应用价值。

The robot end-effector is easy to collide with the surrounding equipment and personnel during the working process, which will cause equipment damage or personnel injury.Therefore, a robot collision sensor based on displacement detection was designed.Based on the mechanical analysis of the sensor connecting rod and the establishment of the balance equation, the spatial collision force model of the end-effector and the corresponding calculation formula of the sensor collision force threshold were derived according to the motion trajectory of the sensor moving parts in the collision process.Meanwhile, the design, dynamic simulation, assembly, and static experiment of the sensor were completed.The experimental results show that the sensor has collision detection and buffer protection functions for the end actuator and had certain application values in robot safety protection and human-machine cooperation.