一种机器人腕力传感器弹性体结构设计与力学性能分析  

Design and Analysis of Mechanical Elastic Body Structure Performance of Robot Wrist Force Sensor

作　　者：郑朝阳[1] 

机构地区：[1]中国船舶重工集团公司江苏自动化研究所,江苏连云港222006

出　　处：《仪表技术与传感器》2017年第11期14-16,36,共4页Instrument Technique and Sensor

摘　　要：针对一种工业型串联关节式机器人设计了一种悬臂梁式腕力传感器弹性体结构形式,对其材料的选取进行了说明,利用有限元分析软件ANSYS对其进行了建模、设置约束、施加载荷,最后查看了弹性体的应变图并对其进行了强度、刚度校核。分析结果显示,该弹性体结构力学性能良好,应变片粘贴梁处应变大,符合该机器人使用要求。The robot wrist force sensor is a force sensor installed in the junction of robot hand and arm,which is one of the important sensors in intelligent robot system.As a carrier of strain type elastic paste wrist force sensor of strain gauge,its importance was self-evident.For an industry to design a flexible cantilever beam wrist force sensor body structure series robot,the selection of materials was described.Finite element analysis software ANSYS was used on the modeling,setting constraints and applying load,finally the strain diagram of the elastomer was checked and strength and rigidity check was carried on.The analysis results show that the elastic structure has good mechanical properties,and the strain gauge is large,which is in line with with the requirements of the robot.

关 键 词：机器人 腕力传感器 弹性体 结构设计 力学性能分析 

分 类 号：TH16[机械工程—机械制造及自动化]