火箭贮箱喷涂机器人直接示教运动感知器设计与分析  

Design and analysis of direct teaching motion sensorfor rocket tank spraying robot

作　　者：付兴 李月 徐海波[3] 陈磊[1] 王黎光 FU Xing;LI Yue;XU Haibo;CHEN Lei;WANG Liguang(Institute of Systems Engineering,China Academy of Engineering Physics,Mianyang 621999,China;Institute of Machinery Manufacturing Technology,China Academy of Engineering Physics,Mianyang 621999,China;School of Mechanical Engineering,Xi’an Jiaotong University,Xi’an 710049,China)

机构地区：[1]中国工程物理研究院总体工程研究所,四川绵阳621999 [2]中国工程物理研究院机械制造工艺研究所,四川绵阳621999 [3]西安交通大学机械工程学院,陕西西安710049

出　　处：《传感器与微系统》2021年第7期78-80,84,共4页Transducer and Microsystem Technologies

摘　　要：为了实现火箭贮箱喷涂机器人的直接示教轨迹规划,设计并制作了一种机器人运动感知器,并对感知器进行结构设计与电路系统设计;采用有限元分析感知器的末端负载能力、手持壳体应变及柔性电路的疲劳可靠性等指标;通过实验验证感知器的基础功能可满足使用指标。In order to realize direct teaching trajectory planning of rocket tank spraying robot,the structure and circuit system of the robot motion sensor are designed and fabricated.The terminal load capacity of the sensor,the strain of the shell and the fatigue reliability of the flexible circuit are all analyzed by finite element analysis;through the experimental verification of the basic functions of the sensor,it can meet the usage indicators.

关 键 词：喷涂机器人 直接示教 感知器 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置] TP212[自动化与计算机技术—控制科学与工程]