基于应变片阵列的机器人变刚度关节力矩传感器研究  

Research of Torque Sensor for Robot Variable Stiffness Joint on Strain Gauge Array

作　　者：王士浩[1] 查富生[1] 尹鹏[1] 王鹏飞[1] 李满天[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》2014年第3期65-70,共6页Machinery & Electronics

摘　　要：设计了一种新型的机器人关节力矩传感器,主要用于获取关节处的力矩和转角信息,以此来计算关节刚度。传感器是由传递力矩的弹性体、旋转电位计和信号处理电路组成。弹性体通过结构参数的设计与优化来提高灵敏度。信号处理电路一方面用于对旋转电位计的输出电压信号进行滤波,另一方面对由2×2应变片阵列组成的两组全桥电路进行放大和滤波处理。最后,通过对传感器进行加载实验获得力矩、角位移与输出电压的关系,采用最小二乘法对传感器进行静态标定。传感器输出的转角和力矩信息可作为控制系统的调控依据。Designs a new torque sensor for ro-bot joint,mainly used to capture the information a-bout torque and angle which is for computing stiff-ness at joint.The sensor consists of sensitive wheel for transmitting torque,rotating potentiometer and signal processing circuit.In order to improve the sensitivity of sensitive wheel ,we design and opti-mize the structure parameter.Signal processing cir-cuit is not only used as a filter for output voltage signal of rotating potentiometer,but also as differ-ential signal amplifier for 2×2 strain gauge array. Finally,through the analysis of the loading experi-ment of torque sensor,get the relationship between＆amp;nbsp;angular displacement and torque with output volt-age.The data is applied to static calibration of the sensor by the least square method.By the output voltage signal of rotating potentiometer and the differential signal amplifier to measure the angular displacement and torque which can be used as the control system.

关 键 词：力矩传感器 弹性体 信号处理电路 应变片阵列 静态标定 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]