仿生机器蟹足力觉检测系统  

Force detection system for bionic crab-liked robot

作　　者：陈东良 孟庆鑫 王立权[1] 郝欣伟[1] 罗红魏[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：《传感器与微系统》2007年第2期65-67,70,共4页Transducer and Microsystem Technologies

基　　金：国家自然科学基金资助项目(61075029)

摘　　要：针对二十四自由度仿生机器蟹研制过程中面临的复杂障碍环境行走的问题,给出应变梁结构的蟹足力觉检测与反馈系统,该传感器采用了梁式应变计,与蟹腿集成为一体,将应变力变换为电信号,经放大器、A/D转换器等信号处理后送入FPGA实时解耦、计算,将X,Y,Z轴的力觉信号通过485总线传到上位机,上位机中建立了机器蟹足与障碍物接触的力觉模型,使机器蟹能够判断障碍物的概况。实验结果表明:该系统测量精度达到了4.5%,响应时间为50μs,能够有效地感知障碍物情况。Aiming at solving the problem of walking on the complex environment with obstacle on the research of bionic crab-liked robot with 24 degrees of freedom, a force detection and feedback system is designed. This sensor uses girder-liked strain gauge which is integrated with the leg and can transform the strain force to electric signal. After treated by amplifier and A/D convertor and real-time uncoupled and accounted by FPGA, the force signals of x, y and z are transported to host computer by 485 bus. With the force model about crab-liked robot＇s leg touching obstacle built on the host computer, crab-liked robot can judge the general situation of obstacle. The experimental result indicates that this system has higher metrical precision up to 4.5 % and the faster respense time of 50 μs, can apperceive situation of obstacle effectively.

关 键 词：力觉传感器 机器蟹 力觉反馈 

分 类 号：TP212.9[自动化与计算机技术—检测技术与自动化装置]