机器人多维力传感器的研究进展  

Progress of the Robot Multi-Dimensional Force Sensor

作　　者：宋爱国 付立悦 徐菁菁 李会军 SONG Aiguo;FU Liyue;XU Jingjing;LI Huijun(Shenzhen Research Institute,Southeast University,Shenzhen 518063;Academy of Space Science and Technology,Southeast University,Nanjing 210018)

机构地区：[1]东南大学深圳研究院,深圳518063 [2]东南大学空间科学与技术研究院,南京210018

出　　处：《飞控与探测》2024年第2期1-13,共13页Flight Control & Detection

基　　金：深圳基础研究项目(2021Szvup025);国防基础科研项目(JCKY2022110C040)。

摘　　要：机器人多维力传感器是机器人与人和外界环境交互的重要部件。力感知技术作为机器人的四大关键技术之一,在抓取、打磨、装配以及健康医疗等领域得到了广泛应用。针对机器人多维力传感器当前的研究进展情况进行了概述。首先对几种常用的多维力传感器的研究现状进行了简单的介绍,然后介绍了几种典型的弹性体结构和改进的弹性体结构。此外,对多维力传感器的标定方法进行了总结,并对标定中存在的问题进行了讨论。由于维间耦合是影响传感器精度的关键因素,且广泛存在于各种结构的多维力传感器中,所以减小或消除维间耦合成为多维力传感器研究中的一个不可或缺的内容,因此对多维力传感器的解耦方法进行了综述。在动态力信号测量场合,需要动态性能好的多维力传感器,还给出了多维力传感器动态性能补偿的一般方法,并分析了运动中的机器人多维力传感器存在的惯性力问题及一般的解决方法。最后,对多维力传感器技术的未来发展趋势提出了新思路,并指出了未来需要解决的问题。Multi-dimensional force/torque sensors are relevant components for robotic interaction with humans and unknown environments.As one of the four key technologies of robots,the force sensing technique is widely used in the fields of grasping,grinding,assembly and health medical applications.In this paper,the research progress of the robot multi-dimensional force sensor is summarized.First,the state-of-the-art multi-dimensional force sensors with several common principles are introduced briefly.Second,several typical elastic elements and improvements are presented.Third,the general calibration method of the force sensor and problems in calibration are discussed.Cross-talk which is the key factor affecting the accuracy of the multi-dimensional force sensor widely exists in force sensors with various structures.Therefore,reducing or eliminating cross-talk is an indispensable item in the design of the sensor,and the research status of decoupling is reviewed in this paper.The multi-dimensional force sensor with advantageous properties is needed in dynamic force signals measurement,thus general dynamic performance analysis methods and existing compensation methods of dynamic error of the force sensor are introduced.Finally,future trends and issues to be addressed are briefly surveyed.

关 键 词：测试计量技术及仪器 多维力传感器 综述 耦合误差 

分 类 号：TH823[机械工程—仪器科学与技术]