仿壁虎机器人足端三维力采集系统研究  

Study of Acquisition System for Gecko Robot's Three-dimensional Force in the Foot

作　　者：杨斌[1] 俞志伟[1] 杨新海 谢家兴[1] 戴振东[1] 

机构地区：[1]南京航空航天大学仿生结构与材料防护研究所,南京210016 [2]上海宇航系统工程研究所,上海201109

出　　处：《科学技术与工程》2016年第32期75-79,共5页Science Technology and Engineering

基　　金：国家自然科学基金项目(51475230;51105201;51435008)资助

摘　　要：在微重力环境下仿壁虎机器人在"着陆"到目标航天器表面时,将会受到较大的碰撞力,影响机器人稳定着陆粘附。针对以上问题,仿生设计了机器人的足端结构,在机器人足端装载三维力传感器;该力采集系统基于STM32和AD620芯片,设计了三维力采集系统硬件和软件;并对三维力传感器进行静态标定和解耦。实验开展了机器人脚掌的碰撞粘附力测试,达到了预期效果,能为实现微重力下仿壁虎机器人稳定粘附着陆,提供力反馈控制的硬件保障。Gecko robot will suffer large impact force during its ＂ landing＂ toward the surface of targeted spacecraft in the microgravity environment. The structure of robot＇s foot end in which three-dimensional force sensor was loaded was bionic designed. The signal acquisition system for force was based on STM32 and AD620 chipset.Hardware and software for acquisition system of three-dimensional force were also designed. Then static calibration and decoupling for three-dimensional force sensor were carried out. The collision adhesion of robot＇s soles was tested and realized desired effect. Guarantee of hardware for control of force feedback be can provided,which will help bionic gecko robot to realized stable adhesion landing in the microgravity environment.

关 键 词：仿壁虎机器人 三维力传感器 力采集系统 

分 类 号：TP242.4[自动化与计算机技术—检测技术与自动化装置]