頁籤選單縮合
題 名 | Design of a Novel Six-Component Wrist Force Sensor=六分量腕關節力感測器之設計 |
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作 者 | 趙魯平; 尹清岩; | 書刊名 | 中國機械工程學刊 |
卷 期 | 19:4 1998.08[民87.08] |
頁 次 | 頁349-358 |
分類號 | 448.5 |
關鍵詞 | 腕關節力感測器; Wrist force sensor; Calibration matrix; Optimal design; Cross sensitivity; |
語 文 | 英文(English) |
中文摘要 | A computer-aided analysis and manufacture work are undertaken to investigate the performance of a novel of six-axis wrist force sensor for robot applications. The computer-aided analysis is focused on the design of the geometric sizes of the cruciform sensor body, with sliding and rotating boundary conditions connected with the rigid rim. The calibration matrix, the condition number, and strain gauges glued to the sensor body are used to evaluate the performance of the force sensor. The finite element method is employed here for numerical analysis of the elastic sensor body. The optimal design methodology is then adopted to precisely determine the geometric sizes of the elastic sensor body. The natural frequencies and the von Mises stress include in constraint conditions to retain the force sensor within higher natural frequencies range and avoid failure, respectively. In a complementary investigation, an experimental program focuses on the manufacture of the structure of the sensor body, and the calibration of the force sensor subjected to nominal loading in order to obtain the compliance matrix, condition number, calibration matrix, and cross sensitivity. Based on the computer-aided analysis and the experimental results, a new decoupled wrist force sensor is devised which really provides increased force sensitivity with minimum stiffness, the lowest condition number, and a nice decoupled calibration matrix. The calibration matrix affords the precision measurement of external loadings induced from the end effector and ensures the possibility of real-time control for a robot arm. |
英文摘要 | 本文提出一新型機械手臂用六分量腕關節力感測器以探究其量測精度與操控性能 。有限元素法與最佳化設計理論用以決定力感測器中十字輻條在額定外載下所需尺寸。高自 然頻率與畸變能破壞理論包括在最佳設計限制條件中以防共振與彈性破壞。校準矩陣、條件 係數及應變計黏貼位置與個數用來評估該力感測器量測精度與操控性能。各方向力及力偶間 之偶合百分比採用交錯靈敏度理論進行分析。本研究提出之新型腕關節力感測器經由理論分 析與實測結果顯示,可具有最大靈敏度以量測各分量力,最低條件係數與較佳非偶合校準矩 陣等優點。配合機械手臂使用時,可節省量測各分量力所須時間,達成機械手臂即時操控適 應外力之可行性。 |
本系統中英文摘要資訊取自各篇刊載內容。