空间大型机械臂末端12维传感器设计及应用

Design and Application of a 12-DOF Sensor on the End of Large Space Manipulator

针对空间大型机械臂,设计了12维传感器,在6维力/力矩传感器基础上一体化设计了6维加速度传感器,并集成了基于FPGA(现场可编程门阵列)的高速多通道数据采集系统.采用最小二乘法和静、动态标定方式对力矩和加速度传感器分别进行了标定.设计的传感器具有维间耦合小、集成度高、易于安装、可靠性高等优点.最后,将设计的12维传感器安装在大型机械臂末端,进行了残余振动抑制试验.实验结果表明,利用此12维传感器的加速度信息,可有效地补偿惯性力、抑制机械臂末端的残余振动,设计的传感器合理可行.

For the large-scale space manipulator, a 12-DOF(degree of freedom) sensor is designed, which consists of a6-dimensional acceleration sensor and a 6-dimensional force/torque sensor. The high-speed multi-channel data acquisition system based on FPGA(field-programmable gate array) is integrated. The least squares method and the static and dynamic calibration method are adopted to calibrate torque and acceleration sensors respectively. The designed sensors have the advantages of small dimension coupling, high integration, easy assembly and high reliability. Finally, the 12-DOF sensor is installed on the end of a large-scale manipulator, and the residual vibration suppression experiment is carried out. The experimental results show that the inertia force is compensated and the residual vibration of the manipulator is restrained effectively according to the acceleration information from the designed 12-DOF sensor. The designed sensor is reasonable and feasible.