水下灵巧手指力传感器设计  

The Design of Underwater Fingertip Force Sensor

作　　者：吴建美[1] 王勇[2] 周福静 唐珊珊[1] 张琼 WU Jian-mei;WANG Yong;ZHOU Fu-jing;TANG Shan-shan;ZHANG Qiong(School of Mechanical Engineering,Anhui Sanlian Universit;School of Mechanical Engineering,Hefei University of Technology,Hefei 230601 , China)

机构地区：[1]安徽三联学院机械工程学院,合肥230601 [2]合肥工业大学机械学院,合肥230601

出　　处：《齐鲁工业大学学报》2018年第1期50-54,共5页Journal of Qilu University of Technology

基　　金：国家自然科学基金(51279044);安徽省自然科学基金"高精度深海环境模拟装置的研究"(kjzd2016003)

摘　　要：为了实现水下灵巧手对目标对象六维力/力矩的准确测量,提出了一种新型的指力传感器模型。该传感器采用十字梁与圆盘结构组合的方式分两组各完成三维力/力矩的测量。首先对传感器的弹性体结构进行了设计和理论分析,然后基于灵敏度高、线性好等要求进行了合理的布片和组桥,从而完成了一种可以直接输出六维力/力矩的传感器的设计,解决了六维力/力矩传感器中存在的结构复杂、尺寸大、刚度低、灵敏度低等问题,可以方便地将其应用于水下灵巧手指尖处。To make the dexterous underwater hand realize six-axis force/moment measuring accurately on the target object,a new type of fingertip force sensor model was proposed. The sensor adopted a combination way between the cross beam and disc structure,and it is divided into two groups to complete three-axis force/moment respectively. Firstly,the elastic body structure of sensor was designed,and the theoretical analysis of the structure was made. Secondly,based on the requirements of high sensitivity and good linearity,strain gauges should be distributed reasonably as well as the bridging form. Finally the design of a sensor was completed,which can be directly output six-axis force/moment. The problems of complex structure,large size,low stiffness and low sensitivity were solved which exist in the six-axis force/moment sensor.

关 键 词：水下灵巧手 六维力/力矩 指力传感器 弹性体结构 组桥 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置]