机器人多维力传感器  

Robotic Multi-Component Force/Torque Sensors:A Review

作　　者：梁桥康[1,2] 成乐凯 龙建勇 李红豪 孙炜 王耀南[1,2] LIANG Qiaokang;CHENG Lekai;LONG Jianyong;LI Honghao;SUN Wei;WANG Yaonan(College of Electrical and Information Engineering,Hunan University,Changsha 410082,China;National Engineering Research Center of Robot Vision Perception and Control Technology,Changsha 410082,China)

机构地区：[1]湖南大学电气与信息工程学院,湖南长沙410082 [2]机器人视觉感知与控制技术国家工程研究中心,湖南长沙410082

出　　处：《测控技术》2023年第4期1-8,21,共9页Measurement & Control Technology

基　　金：国家重点研发计划(2022YFB4703103);国家自然科学基金(62073129,U21A20490);湖南省自然科学基金资助项目(2022JJ10020)。

摘　　要：多维力觉感知系统在柔性精密操控、零力示教、轮廓跟踪、自动柔性装配、机器人多手协作、机器人临场感和遥操作、机器人虚拟和远程手术、康复训练等场合有巨大的需求。力敏元件的性能是决定机器人多维力传感器的各项性能指标的关键因素之一。早在20世纪70年代初,力觉信息的获取和应用就已开始被国际上关注,并获得了初步的探讨。自20世纪80年代末起,我国学者也开始关注和研究力觉感知技术。对机器人多维力传感器力敏元件的设计和研究进展进行了综述,对高精度力信息获取面临的挑战展开了分析,并对机器人多维力传感器的发展趋势和解决思路提出了一些可行性的思路。Multi-component force tactile perception system has a huge demand in flexible manipulation,zero force teaching,contour tracking,automatic flexible assembly,robot multi-hand collaboration,robot presence and remote operation,robot virtual and remote surgery,rehabilitation training and other occasions.The performance of the elastic components is one of the key factors that determine the performance indexes of the multi-component force sensors.In early 1970s,the acquisition and application of force information began to receive international attention and initial discussion.Since the end of the 1980s,Chinese scholars have also begun to pay attention to and study the technology of force perception.The design and research progress of elastic components of multi-component force sensors are reviewed,the challenges of high-precision force information acquisition are analyzed,and some feasible ideas are put forward for the development trend and solution ideas of multi-component force sensors.

关 键 词：机器人传感器 力触觉感知 力敏元件 标定与解耦 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置]