基于微振动检测的滑觉传感器  

SLIP SENSE SENSOR BASED ON MICRO-VIBRATION DETECTION

作　　者：尚振东[1] 李云峰[1] 邓效忠[1] 李立勇 

机构地区：[1]河南科技大学机电工程学院,洛阳471003 [2]天津航海仪器仪表研究所,天津300131

出　　处：《振动与冲击》2007年第12期135-137,145,共4页Journal of Vibration and Shock

基　　金：中国自然科学基金资助项目(50475060)

摘　　要：机械手软抓取功能的实现,关键在于有性能优良的滑觉传感器。滑觉传感器依靠安装在手爪中的弹性体及光电器件,将被抓物体相对机械手爪的滑动,转化为电信号,进而检测机械手抓取中的滑动。被抓物体相对机械手爪的滑动,引起弹性体的微振动。基于振动理论、动力学理论、光照度理论和弹性形变理论,推导出被抓物体相对机械手爪的滑动加速度与光电器件的输出电压的微分成线性关系,进而建立滑动程度判别模式。通过滑觉传感器、力传感器、位置传感器等的信息融合,建立模糊控制系统,实现了电液伺服机械手的软抓取。Robot's soft griping function relies on the fine-performance force sensor, position sensor and slip sensor. Slip sensor employs the elastic solid and the photoelectric apparatus installed in the manipulator to transform the object's gliding against the manipulator into an electric signal to measure the gliding at the moment of snatching. The object's slip against the manipulator causes the micro-vibration of elastic solid. On the basis of the vibration, kinetics, optics and elasticity deformation theories, the linear relation between the acceleration of the gliding and the differential of the output voltage of the photoelectric apparatus can be deduced, which will be used to establish the determination mode of gliding degree. Fusing slip sensor, force sensor, position sensor and other sensors and establishing fuzzy control system, hydraulic drive manipulator soft-grabbing is achieved.

关 键 词：机器人 滑觉传感器 软抓取 机械手 

分 类 号：TP204[自动化与计算机技术—检测技术与自动化装置]