新型六维腕力传感器  

A new 6-axis wrist force sensor

作　　者：茅晨[1] 宋爱国[1] 马俊青[1] 

机构地区：[1]东南大学仪器科学与工程学院,南京210096

出　　处：《南京信息工程大学学报（自然科学版）》2011年第5期402-407,共6页Journal of Nanjing University of Information Science & Technology（Natural Science Edition）

基　　金：中国空间技术研究院(CAST)科研基金(2009-12)

摘　　要：设计了一种新型六维腕力传感器.采用有限单元法对六维腕力传感器的十字梁弹性体进行结构静力学分析,论述了该机械结构的合理性,确定了应变片黏贴的最佳位置,通过合理的应变片电桥的组桥将各维力/力矩信号转化为电压输出.设计放大电路对六维电压信号进行放大,最后通过试验标定装置对此六维腕力传感器进行标定.A new 6-axis wrist force sensor is designed in this paper. The finite element method for the crossbeam elastic body of the sensor is established to analyze the characteristics of structure static. The rationality of the mechanical structure is discussed, and the best pasting position of strain gages is determined. The force/moment signal of every dimension is translated into output voltage through reasonable bridge group. An amplifying circuit is de- signed to amplify the 6-axis signal, and the 6-axis wrist force sensor is calibrated through static calibration device.

关 键 词：六维腕力传感器 有限单元法 十字梁弹性体 电桥 放大电路 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]