大型空间机械臂关节力矩传感器的设计  

Design of Torque Sensor on Large Space Manipulator

作　　者：王学飞[1] 史士财[1] 孙敬颋[1] 张飞[1] 

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江哈尔滨150001

出　　处：《机械与电子》2012年第10期61-64,共4页Machinery & Electronics

摘　　要：设计了大型空间机械臂关节力矩传感器,采用Pro/E建立了弹性体的模型,使用ANSYS Workbench对弹性体进行了有限元分析,对比2种弹性体模型的灵敏度和线性度,最终选择剪切轮辐式弹性体;对设计的传感器进行标定,计算其静态特性指标,满足设计要求。A torque sensor on large space manip- ulator was designed, a model of the elastomer was built using Pro/E software, the elastomer was ana- lyzed using ANSYS Workbench, a detail comparison on sensitivlty and llnearity between the two models was carried out, finally the cut and spokes model stand out;a calibration experiment was carried out to prove that the design is applicable.

关 键 词：大型空间机械臂 力矩传感器 弹性体 标定 

分 类 号：V476.5[航空宇航科学与技术—飞行器设计]