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全光纤双传感臂振动传感器频率特性研究 被引量:1
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作者 吕垚 戴基智 +1 位作者 代志勇 吴兵兵 《中国测试》 CAS 2011年第3期93-96,共4页
以全光纤Mach-Zehnder(M-Z)干涉仪为基础,阐述了光纤双传感臂振动传感器的工作原理和结构设计。按照理论设计的结构采用硫化硅橡胶及金属铁块制作了传感探头,并完成全光纤双传感臂M-Z干涉仪的制作,实现干涉可见度约为95.8%。搭建实验系... 以全光纤Mach-Zehnder(M-Z)干涉仪为基础,阐述了光纤双传感臂振动传感器的工作原理和结构设计。按照理论设计的结构采用硫化硅橡胶及金属铁块制作了传感探头,并完成全光纤双传感臂M-Z干涉仪的制作,实现干涉可见度约为95.8%。搭建实验系统对不同频率的振动信号进行测试,初步测试结果表明,系统的固有频率在850~1 150 Hz之间,与理论计算相符;在固有频率以下,传感器工作频带范围是100~800 Hz,在固有频率以上工作频带范围是1.2~6.0 kHz。 展开更多
关键词 光学技术与仪器 光纤传 M-Z干涉仪 双传感臂 振动频率
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Estimation of an Object's Physical Parameter by Force Sensors of a Dual-arm Robot
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作者 CAO Sheng LUO Zhiwei QUAN Changqin 《Journal of Mechanics Engineering and Automation》 2017年第3期120-131,共12页
We are developing a nursing-care robot for physical care tasks. The concept of this robot is to promote the cared persons by the robot to activate their own motion ability as long as possible. This may lead to the imp... We are developing a nursing-care robot for physical care tasks. The concept of this robot is to promote the cared persons by the robot to activate their own motion ability as long as possible. This may lead to the improvement of the cared person's movement volition and movement abilities. In order to realize safe and human friendly robot care tasks, full body manipulation is an important technology, for which it is necessary to estimate the subject's center of gravity from the contact positions and forces with the robot's two arms. In this paper, we estimate the center of gravity of object based on the contact point and the contact force estimated by force sensor on both robot arms. The position of gravity center is important to realize care tasks stably. We performed experiments and simulations for the single point contact and dual points contact cases using a cylindrical object. As a result, it is found that although some errors were recognized in the experiments compared with the simulations, the relations between the contact positions and such errors were observed. Such experimental error mainly comes from the difference of shape between the real robot and the model of the robot in simulation. 展开更多
关键词 Nursing care robot estimation of physical parameter.
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