与环境碰撞时腕力传感器动态性能的试验研究  

The Test and Study on Dynamic Performance of Wrist Force Transducer Under Environment Collision

作　　者：王爱民[1] 张庆[1] 蒋洪明[1] 

机构地区：[1]东南大学仪器科学与工程系,江苏南京210096

出　　处：《自动化仪表》1999年第8期7-9,共3页Process Automation Instrumentation

基　　金：国家自然科学基金资助项目

摘　　要：通过试验研究,介绍了碰撞速度、环境刚度、负载、运动方向对碰撞接触时传感器动态性能的影响,指出上述四个方面是影响与环境碰撞后腕力传感器动态性能的主要因素;较大的动态负载力会对传感器产生破坏作用,并降低力控制性能,因此,在腕力传感器设计和使用时,应使其最大负载小于设计限值.Through the tests and investigation the effects of collision speed, environment rigidity, load, moving direction on dynamic performance of the wrist force transducer under collision contact are introduced. The paper states that the four issues above are the major factors effecting dynamic performance of wrist force transducer under environment collision . Larger dynamic load may damage the transducer and lower the force control performance. Thus in design and application of the transducer it is necessary to make the maximum load less than the design limit.

关 键 词：腕力传感器 机器人 动态性能 碰撞接触 试验研究 

分 类 号：TP242.02[自动化与计算机技术—检测技术与自动化装置]