腕力传感器的一种动态解耦方法  

A Kind of Dynamic Decoupling Method for Wrist Force Sensor

作　　者：徐科军[1] 殷铭[1] 张颖[1] 

机构地区：[1]合肥工业大学

出　　处：《应用科学学报》1999年第1期39-44,共6页Journal of Applied Sciences

基　　金：国家自然科学基金;机械工业部高校跨世纪优秀人才专项科研基金;安徽省自然科学基金

摘　　要：提出了一种传感器不变性动态解耦方法．基于动态标定实验，进行传感器动态建模，在离散域设计解耦网络，分别对构造模型和腕力传感器进行解耦，效果良好．该方法简单、实用。The dynamic coupling is a special problem in the investigations of multi dimensional force sensor's dynamic characteristic. There is no effective method to solve the dynamic coupling so far. This paper proposes a constance dynamic decoupling method of sensor. Based on the dynamic calibrating experiments, the sensor's dynamic models are set up, the decoupling network is designed in discret domain. Both the constructed models and the wrist force sensor are decoupled, and good effects are obtained. The constance decoupling method is simple and practical, and is a new kind of method for solving key problem of other multi dimensional sensors and compound types of sensors.

关 键 词：腕力传感器 动态解耦 不变性原理 力传感器 

分 类 号：TH823[机械工程—仪器科学与技术] TP212[机械工程—精密仪器及机械]