Force/Moment Isotropy of 8/4-4 Parallel Six-Axis Force Sensor Based on Performance Atlases

A six-axis force sensor with parallel 8/4-4 structure is introduced and its measurement principle is analyzed.Based on condition numbers of Jacobian matrix spectral norm of the sensor,the relationship between the force and moment isotropy and some structural parameters is deduced.Orthogonal test methods are used to determine the degree of primary and secondary factors that have significant effect on sensor characteristics.Furthermore,the relationship between each performance index and the structural parameters of the sensor is analyzed by the method of the atlas,which lays a foundation for structural optimization design of the force sensor.

A novel fully-integrated miniature six-axis force/torque sensor

This paper presents a new designed miniature six DOF （degree of freedom） force/torque sensor. This sensor is fully integrated with a micro DSP （digital signal processor）, so all the signal conditioning, A/D, decoupling, digital-signals serial output are performed in the sensor. Some experimental results are presented to demonstrate the capability of the proposed design. Finally, a neural network was used for decoupling the interacting signals, compared with the conventional method using the inverse matrix, this new method is more accurate.

Dynamic analysis of double-layer and pre-stressed multi-limb six-axis force sensor

In order to adapt to the specific task, the six-axis dynamic contact force between end-effectors of intelligent robots and working condition needs to be perceived. Therefore, the dynamic property of six-axis force sensor which is installed on the end-effectors of intelligent robots will have influence on the veracity of detection and judgment to working environment contact force by intelligent robots directly. In this paper, dynamic analysis to double-layer and pre-stressed multi-limb six-axis force sensor is conducted. First, the structure of the sensor is introduced, and the limb number is confirmed by introducing the related definitions of convex analysis. Then, based on vibration of multiple-degree-of-freedom system, a mechanical vibration simplified model of double-layer and pre-stressed multiple limb six-axis force sensor is set up. After that, movement differential equations of sensor and the response of analytical expression are deduced, and the movement differential equations is solved. Finally, taking the double-layer and pre-stressed seven limb six-axis force sensor as an example, numerical calculation and simulation of deriving result is conducted, which verify the correctness and feasibility of the theoretical analysis.

Optimal design and experiment research of an orthogonal-parallel six-axis force/torque sensor

A novel orthogonal-parallel six-axis force/torque sensor is studied based on a modified Stewart platform architecture,and the optimal design and experiment research of the sensor are discussed.Firstly,the model of orthogonal parallel six-axis force/torque sensor based on improved Stewart platform architecture and its static mathematical model are proposed.Secondly,according to the actual working condition of the sensor,the sensor is optimized and the optimal solution is obtained.Then,the experimental prototype and calibration system is developed.Finally,the superiority of the sensor structure and the effectiveness of the optimization method are verified by calibration experiments.The results of the proposed method are useful for the further research and application of the orthogonal-parallel six-axis force/torque sensor.

WRIST FORCE SENSOR'S DYNAMIC PERFORMANCE CALIBRATION BASED ON NEGATIVE STEP RESPONSE

Negative step response experimental method is used in wrist force sensor＇s dynamic performance calibration. The exciting manner of negative step response method is the same as wrist force sensor＇s load in working. This experimental method needn＇t special experiment equipments. Experiment＇s dynamic repeatability is good. So wrist force sensor＇s dynamic performance is suitable to be calibrated by negative step response method. A new correlation wavelet transfer method is studied. By wavelet transfer method, the signal is decomposed into two dimensional spaces of time-frequency. So the problem of negative step exciting energy concentrating in the low frequency band is solved. Correlation wavelet transfer doesn＇t require that wavelet primary function be orthogonal and needn＇t wavelet reconstruction. So analyzing efficiency is high. An experimental bench is designed and manufactured to load the wrist force sensor orthogonal excitation force/moment. A piezoelectric force sensor is used to setup soft trigger and calculate the value of negative step excitation. A wrist force sensor is calibrated. The pulse response function is calculated after negative step excitation and step response have been transformed to positive step excitation and step response. The pulse response function is transferred to frequency response function. The wrist force sensor＇s dynamic characteristics are identified by the frequency response function.

ACTIVE TACTILE SEARCHING TECHNIQUES BASED ON FORCE AND TACTILE INFORMATION FUSION

This paper analyses the seometry features of target object, prasents anactive searching principle and tactics based on information fusion of force and tac-tile, discusses the way of searching the object by usiap wrist force sensor and tac-tile sensor join

Dynamic Modeling of Multi-axis Wrist Force Sensorin Time Domain

Multi-axis wrist force sensor is one of the most important sensors in the intelligentrobot. It measures the force and torque messages of three-dimensional space to ensurerobots to accomplish tasks with accuracy, such as mechanical assembling, precise grind-ing and outline trace. Its response speed must be high enough and its dynamic

一种高性能六轴腕力传感器弹性体结构设计

建立了一种空间机器人上使用的六轴腕力传感器弹性体静、动特性的有限元分析模型 ,分析了该传感器的弹性体在各种工况下的应力分布以及固有振动的频率和振型 .应用正交试验设计全面分析结构主要参数对传感器的静、动特性的影响 .用逐步回归分析方法对数值计算结果进行回归 ,获得了弹性体性能和其结构尺寸的回归方程 。

Matlab在六维腕力传感器系统标定中的应用

通过VC调用Matlab函数引擎 ,利用Matlab的有关函数和工具箱 ,对六维腕力传感器进行了静态解耦分析 。

六维腕力传感器阶跃响应的实验建模

基于阶跃响应法的动态标定实验数据 ,采用系统辨识方法建立机器人六维腕力传感器 6个转换通道的动态数学模型 ,确定频域性能指标 ,全面。

机器人用六维腕力传感器标定研究

本文在基于获得最高标定精度的基础上，推导出标定力的选取原则；同时提出了传感器相对干扰矩阵的新概念，在此基础上，建立了一套传感器标定的实验系统。

机器人六维腕力传感器标定试验台误差分析与研究

介绍了自行研制的机器人六维腕力传感器标定试验台以及在该试验台上进行单向施加标定力的方法。分析了试验台系统误差产生的各种原因,推导出由轴承内部的摩擦力矩、定滑轮与绳子之间的摩擦力、绳子自重、加载方向和作用点位置偏差等各种原因引起的系统误差的计算公式。针对施加Fz方向标定力的情况,计算出各种原因引起的系统误差值,求出合成后试验台总的系统误差值,并进一步提出减小系统误差的方法。

腕力传感器的一种动态解耦方法

提出了一种传感器不变性动态解耦方法．基于动态标定实验，进行传感器动态建模，在离散域设计解耦网络，分别对构造模型和腕力传感器进行解耦，效果良好．该方法简单、实用。

腕力传感器动态补偿研究

改善腕力传感器的动态品质是扩大其应用范围，使其在国际上独具特色的当务之急。本文分别用系统辨识方法和零极点配置方法设计动态补偿环节；又分别用运放和单片机实现动态补偿器，极大地提高了腕力传感器动态响应的快速性。在具体探索中，还总结、归纳出较为完整、系统的理论方法和实施方案，可用于指导其它传感器和测量系统动态特性的研究。

ANSYS在腕力传感器结构设计中的应用

腕力传感器是一类重要的机器人传感器,腕力传感器的弹性体结构设计好坏直接影响到传感器的各项指标。由于腕力传感器结构复杂,各输出通道之间往往存在着干扰,通常采用实验的方法来进行标定,但标定的结果往往不够精确。利用所研制的一种新型机器人多维腕力传感器的结构,提出了一种利用有限元分析软件ANSYS对其维间干扰作定量分析的方法,分析结果证实了该传感器弹性体结构设计的合理性。

多维腕力传感器静态解耦的研究

传感器的静态耦合是制约多维力传感器测量精度的一个主要因素。文章总结了腕力传感器静态线性解耦的主要研究内容，提出静态非线性耦合问题，探索静态非线性标定方法，给出了一种非线性解耦方法，仿真结果充分证明其有效性。

基于多传感器数据融合的机器人腕力测量

提出根据手爪上的多个指力传感器的输出变化 ,通过数据融合方法得到腕力的数值。研制了标定腕力与手爪上指力之间关系的实验台 ,进行了标定实验。采用径向基函数神经元网络对实验数据进行训练 ,得到融合网络的权值。

一种非径向三梁结构六维腕力传感器弹性体及其优化设计

本文介绍了一种新型非径向三梁结构的六维机器人腕力传感器弹性体及其优化设计方法.三梁结构弹性体可提高应变式腕力传感器灵敏度和标定精度,改善径向效应,有利于传感器坐标设置.运用本文介绍的复合形优化设计方法,可使弹性体应梁截面尺寸达到最小,在确保负载能力和分辨率两项主要性能指标的前提下,减小弹性体的自重.它为应变式多维力传感器的设计和研究提供了一种有效的方法.

腕力传感器动态特性中关键问题的研究

腕力传感器的动态特性至关重要，动态建模、解耦和补偿是其中三个最为关键的问题。本文解决了动态响应时间归一化的问题，将沃尔什变换方法实用于传感器动态建模。提出传感器不变性动态解耦方法，设计解耦网络，减小各方向之间的动态干扰。分别用系统辨识方法和零极点配置方法设计动态补偿环节，用数字信号处理器实现动态补偿器，提高传感器动态响应的快速性。

机器人六维腕力传感器标定方法和标定装置的研究

通过对机器人六维腕力传感器系统的各种标定方法的分析讨论,说明了应采用阶跃响应的方法来对它的动态性能进行标定。从矩形脉冲频谱对系统传递函数影响的角度,说明了为减少矩形脉冲频谱对传递函数标定曲线的干扰,应使阶跃激励开始时刻前的采样点数为零。新设计的实验方法和实验装置便于测出标定中使用的激励信号,通过数据采样系统的"软触发"功能,准确抓取到阶跃开始时刻,减少了干扰。同时,在该实验台上加载所使用的定滑轮数量较少,也有效地减小了标定误差。