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金力,王成军,夏科睿,等. 紧凑型内嵌扭矩传感器机器人关节设计[J]. 科学技术与工程, 2021, 21(24): 10356-10361.
Jin Li,Wang Chengjun,Xia Kerui,et al.Design of Compact Robot Joint Embedded Torque Sensor[J].Science Technology and Engineering,2021,21(24):10356-10361.
紧凑型内嵌扭矩传感器机器人关节设计
Design of Compact Robot Joint Embedded Torque Sensor
投稿时间:2021-01-18  修订日期:2021-06-03
DOI:
中文关键词:  机器人关节  扭矩传感器  驱控一体化  静态标定  轻型机械臂
英文关键词:Robot joint  Torque sensor  Control and drive integration  Static calibration  Lightweight robotic arm
基金项目:国家创新方法工作专项(2018IM010500);安徽省高校协同创新项目(GXXT2019018);安徽省重点研究与开发计划项目(201904a05020092)
              
作者单位
金力 哈工大机器人合肥国际创新研究院
王成军 安徽理工大学人工智能学院
夏科睿 哈工大机器人合肥国际创新研究院
毛吉灿 哈工大机器人合肥国际创新研究院
陆芳 安徽中科米点传感器有限公司
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中文摘要:
      内嵌扭矩传感器的紧凑型一体化关节可增加机器人的负载质量比,提高力控安全性,更适用于服务行业。通过对轻型协作机器人关节的研究,提出了机器人关节系统整体设计方案。基于关节设计参数,研究关节系统工况负载下的可靠性。对关节扭矩特性进行分析,设计了17型号关节扭矩传感器本体,并采用有限元仿真方法,验证了应变片安装位置的合理性。研制了放大与低通滤波电路系统,并对传感器进行实验分析标定,拟合扭矩电压特性曲线,得到线性度、灵敏度、迟滞和零漂参数。最后对研制的关节整机进行负载测试,并应用于五自由度碳纤维轻型机械臂系统。研究结果表明,紧凑型内嵌扭矩传感器机器人关节质量轻、负载能力高,扭矩传感器具有较高的精度和灵敏度。
英文摘要:
      The compact integrated joint with embedded torque sensor can increase the load-to-mass ratio of the robot, improve the safety of force control, and is more suitable for the service industry. By studying the joint of the light cooperative robot, the overall design scheme of the joint system of the robot is presented. Based on the joint design parameters, the reliability of the joint system under load was studied. Based on the analysis of joint torque characteristics, 17 types of joint torque sensor body are designed. The finite element simulation method is adopted to verify the rationality of strain gauge installation position. The amplifying and low-pass filtering circuit system is developed, and the sensor is calibrated by experimental analysis, the load voltage characteristic curve is fitted, and the linearity, hysteresis, zero drift and sensitivity parameters are obtained. Finally, the load test of the whole joint system is carried out and applied to the 5-DOF carbon fiber robot manipulator system. The results show that the robot joint has high light load and high precision and sensitivity.
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