一种新结构的智能化六维腕力传感器  

A New Structured and Intellectualized Six-Axis Wrist Force Sensor

作　　者：王巍[1] 崔维娜[2] 

机构地区：[1]北京航空航天大学机器人研究所,100083 [2]北京化工大学,74信箱100029

出　　处：《微计算机信息》2003年第1期38-40,共3页Control & Automation

摘　　要：本文首先提出了一种新结构的水下机械手用六维腕力传感器;然后为其设计了信号放大、滤波和调零电路;最后,设计了以内置CAN总线控制器的80C592单片机为核心的传感器信号解耦和通讯单元,使该传感器成为一个独立的智能化单元。Firstly, a six-axis wrist force sensor using a thin-walled cylinder as detective section is proposed in this paper. Secondly, a current for it is developed, which consists of a bridge zero modulation current, signal amplifier and analog filter. At last, a micro-computer 80C592 with inboard CAN controller is used as the center of intellectualized signal processing cell to fulfill calculating and communication.

关 键 词：智能化六维腕力传感器 单片机 水下作业机械手 CAN总线 

分 类 号：TP212.6[自动化与计算机技术—检测技术与自动化装置] TP241[自动化与计算机技术—控制科学与工程]