[1]侯鹏飞,刘伊威,谢宗武.空间机械臂关节力矩传感器的研制[J].机械与电子,2015,(07):77-80.
　HOU Pengfei,LIU Yiwei,XIE Zongwu.Development of Joint Torque Sensor on Space Manipulator[J].Machinery & Electronics,2015,(07):77-80.
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空间机械臂关节力矩传感器的研制
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2015年07期
页码:
77-80
栏目:
智能工程
出版日期:
2015-07-26

文章信息/Info

Title:
Development of Joint Torque Sensor on Space Manipulator
文章编号:
1001-2257(2015)07-0077-04
作者:
侯鹏飞; 刘伊威; 谢宗武
(哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨 150001)
Author(s):
HOU Pengfei;  LIU Yiwei;  XIE Zongwu
(State Key Laboratory of Robotics and System, Harbin Institute of Technology,Harbin 150001,China)
关键词:
电阻应变;  力矩传感器;  弹性体;  迟滞
Keywords:
resistance strain;  torque sensors;  elastomer;  hysteresis
分类号:
V476.5; TP241
文献标志码:
A
摘要:
为了实现空间机械臂的主动柔顺控制,成功研制了一种基于电阻应变原理的新型关节力矩传感器。该传感器采用轮辐式弹性体设计,具有机械过载限位保护和温度补偿等功能。通过ANSYS软件的有限元分析,验证了其结构设计的合理性和良好的线性特性。对力矩传感器进行标定实验,结果表明其静态指标满足设计要求。
Abstract:
In order to achieve the active compliance control of a space manipulator, a joint torque sensor is successfully developed based on the principle of resistance strain. The sensor used the spoke-structure elastomer design, with the functions of mechanical overload's limit protection and temperature compensation. Through the finite element analysis with ANSYS, its structural design and good linearity were well verified. Then, the calibration experiment was conducted. The results show that the static indicators meet the design requirements.

参考文献/References:

[1] An.CH,Atkeson.CG,Griffiths.JD,et al. Experimental evaluation of feedforward and computed torque control[J]. IEEE Transactions on Robot and Automation,1989,5(3):368-373.
[2] Gu Y L,Xu Y. A normal form augmentation approach to daptive control of space robot systems[J]. Dynamics and Control,1995,5(3):275-294.
[3] Khatib O. A unified approach for motion and force control of robotic manipulators:the operational space formulation[J]. IEEE Journal of Robotics and Automation,1987,3(1):43-53.
[4] Ghorbel.F,Hung.JY,Spong.MW. Adaptive control of flexible-joint manipulators[J]. IEEE Control Systems Magazine. 1989,4(3):9-13.
[5] Hirzinger G, Albu-Schaffer A, Hahnle M, et al. On a new generation of torque controlled light-weight robots[C]∥Proceedings of the 2001 IEEE International Conference on Robotics & Automation,2001:3356-3363.
[6] 赵学增.现代传感技术基础及应用[M]. 北京:清华大学出版社,2009.

备注/Memo

备注/Memo:
收稿日期:2015-03-06
作者简介:侯鹏飞(1989-),男,河北南和人,硕士研究生,研究方向是空间机器人技术; 刘伊威(1977-),男,黑龙江双城人,博士,副教授,主要从事空间机器人技术研究。
更新日期/Last Update: 2015-07-26