摘要
机械手软抓取功能的实现,关键在于有性能优良的滑觉传感器。滑觉传感器依靠安装在手爪中的弹性体及光电器件,将被抓物体相对机械手爪的滑动,转化为电信号,进而检测机械手抓取中的滑动。被抓物体相对机械手爪的滑动,引起弹性体的微振动。基于振动理论、动力学理论、光照度理论和弹性形变理论,推导出被抓物体相对机械手爪的滑动加速度与光电器件的输出电压的微分成线性关系,进而建立滑动程度判别模式。通过滑觉传感器、力传感器、位置传感器等的信息融合,建立模糊控制系统,实现了电液伺服机械手的软抓取。
Robot's soft griping function relies on the fine-performance force sensor, position sensor and slip sensor. Slip sensor employs the elastic solid and the photoelectric apparatus installed in the manipulator to transform the object's gliding against the manipulator into an electric signal to measure the gliding at the moment of snatching. The object's slip against the manipulator causes the micro-vibration of elastic solid. On the basis of the vibration, kinetics, optics and elasticity deformation theories, the linear relation between the acceleration of the gliding and the differential of the output voltage of the photoelectric apparatus can be deduced, which will be used to establish the determination mode of gliding degree. Fusing slip sensor, force sensor, position sensor and other sensors and establishing fuzzy control system, hydraulic drive manipulator soft-grabbing is achieved.
出处
《振动与冲击》
EI
CSCD
北大核心
2007年第12期135-137,145,共4页
Journal of Vibration and Shock
基金
中国自然科学基金资助项目(50475060)
