四足机器人电容型力矩传感器设计与分析  

Design and Analysis of Capacitive Torque Sensor for Quadruped Robots

作　　者：于通 杨双楠 贾君孟 

机构地区：[1]长安大学工程机械学院,陕西西安710054

出　　处：《大众科技》2023年第12期6-10,共5页Popular Science & Technology

摘　　要：力矩传感器被用来感知外界环境和机器人系统之间交互力的大小,精确测量力、力矩大小可提高机器人系统控制的精准度。由于受机器人大小尺寸、机身重量、经济成本等方面的约束,传统的力矩传感器不适用于机器人系统。文章设计一种新型的机器人系统用测量关节力矩的电容型力矩传感器,通过研究电容感应机理与传感器结构设计,多方向微量形变分析与多维信号解耦方法等内容,实现对机器人关节力矩传感器的设计,并通过有限元仿真验证该方案的可行性。Torque sensors are used to sense the magnitude of interaction forces between the external environment and robot systems,and precise measurement of force and torque can improve the accuracy of robot system control.Due to the constraints of robot size,body weight,and economic cost,traditional force sensors are not suitable for application in robot systems.This article introduces a new type of capacitive torque sensor for measuring joint torque in robot systems.By studying the mechanism of capacitive induction and sensor structure design,multi-directional micro deformation analysis,and multi-dimensional signal decoupling methods,the design of robot joint torque sensors is achieved.The feasibility of the scheme is verified by finite element simulation.

关 键 词：电容式传感器 差动式 力矩传感器 解耦 有限元分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]