微型电脑应用

研究操作臂的关节力矩传感器,首先讨论传感器的弹性体的设计,介绍材料的选择和结构的设计,通过有限元计算分析传感器的应力分布情况,确定应变片最佳粘贴位置。然后讨论传感器的信号处理电路的设计,利用标定装置对传感器进行静态标定,通过分析获得传感器的灵敏度、线性度、迟滞等性能指标。最后,将传感器安装在实验室开发的操作臂上,利用力矩传感器及时检测操作臂与周围环境发生的碰撞,证明了力矩传感器能够有效地提高操作臂与人交互的安全性。

This paper studies the design of torque sensor. Firstly, it introduces the material selection and structure design of the torque sensor, finds the best position of the torque sensor to paste gauges based on the ANSYS software. Secondly, it debates the design of signal processing circuit, uses equipment to finish the static calibration to get the performance index.Finnally, experiment is designed to show the validity of the torque sensor in collision detection for the safe human-machine interaction of manipulator.