机械与电子Issue(3)：65-70,6.
基于应变片阵列的机器人变刚度关节力矩传感器研究
Research of Torque Sensor for Robot Variable Stiffness Joint on Strain Gauge Array
王士浩 1查富生 1尹鹏 1王鹏飞 1李满天1
作者信息
- 1. 哈尔滨工业大学机器人技术与系统国家重点实验室，黑龙江 哈尔滨 150001
- 折叠
摘要
Abstract
Designs a new torque sensor for ro-bot joint,mainly used to capture the information a-bout torque and angle which is for computing stiff-ness at joint.The sensor consists of sensitive wheel for transmitting torque,rotating potentiometer and signal processing circuit.In order to improve the sensitivity of sensitive wheel ,we design and opti-mize the structure parameter.Signal processing cir-cuit is not only used as a filter for output voltage signal of rotating potentiometer,but also as differ-ential signal amplifier for 2 ×2 strain gauge array. Finally,through the analysis of the loading experi-ment of torque sensor,get the relationship between angular displacement and torque with output volt-age.The data is applied to static calibration of the sensor by the least square method.By the output voltage signal of rotating potentiometer and the differential signal amplifier to measure the angular displacement and torque which can be used as the control system.关键词
力矩传感器/弹性体/信号处理电路/应变片阵列/静态标定Key words
torque sensor/elastomer/signal processing circuit/strain gauge array/static calibra-tion分类
信息技术与安全科学引用本文复制引用
王士浩,查富生,尹鹏,王鹏飞,李满天..基于应变片阵列的机器人变刚度关节力矩传感器研究[J].机械与电子,2014,(3):65-70,6.
