一种水下灵巧手指端力测量方法的研究  

Research on fingertip force sensing of underwater dexterous hand

作　　者：王华[1] 孟庆鑫 张忠林[1] 

机构地区：[1]哈尔滨工程大学机电工程学院,黑龙江哈尔滨150001

出　　处：《哈尔滨工程大学学报》2006年第3期434-437,共4页Journal of Harbin Engineering University

摘　　要：为了实现水下灵巧手对物体安全的抓取和准确确定其在手指上的位置,需开发一种能同时测量出力的大小和位置的传感器,而且该传感器适应水下作业环境.文中采用水压力补偿技术,建立了基于圆筒式测力结构的水下灵巧手末端指节的结构模型.对该结构的测力原理进行理论分析,验证该结构的合理性并推导出测量原理方程.对末端指节进行标定实验,计算出标定矩阵.采用ATMEGA微控制器建立测量系统,在陆上和浅水环境中对该指节的力感知能力进行测试,结果显示在水下和陆上的测量结果一致,且测试精度满足目前水下灵巧手研究的要求.To safe grasp an unknown object using an underwater dexterous hand and its position in the fingers, a sensor should be developed that can detect the force and pos accurately perceive ition simultaneously. Furthermore, this sensor should be usable in underwater conditions. To accomplish this, a finger-tip force sensor model of an underwater dexterous hand was built based on a cylindrical elastic body employing a water pressure compensation technique. The principle of force measuring was analyzed theoretically, which proved the reasonableness of the structure, and the equation was inferred for measuring force. The calibration matrix was concluded after calibration. The ability to sense force was tested in a measuring system established by an ATmega microcontroller, and the results indicate that the characteristic of the sensor under the water is the same as on land and the measurement accuracy meets research demands of the underwater dexterous hand.

关 键 词：水下灵巧手 圆筒 六维力/力矩 传感器 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置]