计量学报2018，Vol.39Issue(1)：52-55,4.DOI:10.3969/j.issn.1000-1158.2018.01.12
一种指尖三维力传感器设计
Design of a Three Dimensional Force Sensor
摘要
Abstract
A three dimensional force sensor is designed for simulating the humanoid dexterous hand.Using the structure of the combination of the cross beam and the central straight beam to achieve perception of three-dimensional force,using ANSYS tool for the design of cross beam elastic body statics is analyzed,optimized through the analysis of the structure size of elastomer,and give the optimal placement scheme.The static calibration experiment was conducted on the designedthree-dimensionalfingertip force sensor,andestablished the dimension coupling error model,using the static decoupling algorithm to decouple the error of sensor,effectively improve measurement precisionof the fingertip threedimensional force sensor.The experimental resultsmake knowthat the measurement precision of the designed threedimensional fingertip force sensor is better than 2.5％.关键词
计量学/指尖三维力传感器/十字梁结构/ANSYS/静态标定Key words
metrolog/fingertip three-dimensional force sensor/cross beam structure/ANSYS/static calibration分类
通用工业技术引用本文复制引用
张强,宋爱国,刘玉庆,姜国华,周伯河..一种指尖三维力传感器设计[J].计量学报,2018,39(1):52-55,4.基金项目
国防基础科研计划(B1720132001) （B1720132001）
江苏省科技支撑计划(BE2014132) （BE2014132）
