具有惯性补偿的机器人变刚度碰撞传感器研究  

Research on Variable Stiffness Collision Sensor of Robot with Inertia Compensation

作　　者：林义忠[1] 易雨晴 秦琦航 杜柳明 梁科 LIN Yizhong;YI Yuqing;QIN Qihang;DU Liuming;LIANG Ke(School of Mechanical Engineering,Guangxi University,Nanning Guangxi 530004,China)

机构地区：[1]广西大学机械工程学院,广西南宁530004

出　　处：《机床与液压》2023年第17期1-5,共5页Machine Tool & Hydraulics

基　　金：国家自然科学基金资助项目(61963005)。

摘　　要：针对现有机器人手部碰撞检测装置灵敏度低和适应性差的问题,基于电磁力伺服的可变刚度手部惯性力补偿机制,设计一种具有惯性自适应功能的变刚度机器人碰撞传感器。该传感器的碰撞触发力阈值随机器人手部惯性力而自适应改变,以消除惯性力对碰撞检测的影响并实时提高碰撞检测的灵敏度。碰撞实验结果显示:该电磁变刚度方法可显著降低传感器预紧弹簧的压缩力,提高机器人末端执行器碰撞过程的动态检测灵敏度,进而提升机器人在人机协作中的碰撞检测和安全防护的智能化水平。For the problems of low sensitivity and poor adaptability of existing robot hand collision detection device,a variable stiffness robot collision sensor with inertia adaptive function was designed based on the variable stiffness hand inertia force compensation mechanism of electromagnetic force servo.The collision trigger force threshold of the sensor changed adaptively with the robot hand inertia force to eliminate the influence of inertia force on collision detection and to improve the sensitivity of collision detection in real time.The results of the collision experiments show that the electromagnetic variable stiffness method can significantly reduce the compression force of the sensor preload spring,improve the dynamic detection sensitivity of the robot end-effector collision process,and then enhance the intelligence of robot collision detection and safety protection in human-robot collaboration.

关 键 词：机器人 变刚度 碰撞检测 惯性力补偿 电磁力伺服 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]