摘要
为获得仿人行走机器人脚部的力感信息,简化测力系统,设计了一个新型的六维力传感器的弹性体,并用ANSYS软件对传感器弹性体进行了有限元分析,根据应力测量原理并结合特定的应变片布片和组桥方案得到了一种新型力解耦六维力传感器。对传感器原型进行的实测结果表明:该传感器得到了1.26 μV/N的灵敏度和2.0％的线性度,直接输出的维间力耦合在5％以内。
In order to get the force information on the feet of the biped robot imitating human walking and simplify the force being measuring system, a force sensor which is suitable for being mounted on the feet of the biped robot imitating human walking and force decoupled is demanded. An elastic body is designed and analyzed by ANSYS software package. According to the theory of stress measurement, a force decoupled six-axis force sensor was developed through a specified scheme of the distribution of strain gauges and the makeup of electric bridge of strain gauges. The experiment results of the prototype of the sensor are given, and they show that the sensor's sensitivity reaches 1.26 μV/N, its linearity reaches 2.0%, and the coupling or the output forces is lower than 5.0%.
出处
《哈尔滨工业大学学报》
EI
CAS
CSCD
北大核心
2004年第2期160-162,166,共4页
Journal of Harbin Institute of Technology
基金
国防科技基础研究基金(27200912).
关键词
解耦机器人
六维力传感器
弹性体
仿人行走机器人
有限元分析
Computer simulation
Computer software
Finite element method
Force measurement
Sensitivity analysis
Sensors
