摘要
机器人执行器末端三维传感器需要对三维方向受力大小进行精确感知,对微结构三维力传感器进行了研究,采用电阻应变片测量原理,设计了一种微结构三维力传感器,对传感器进行了三维力标定,提出了一种基于多项式最小二乘法的静态解耦,并应用该算法完成传感器的三维力静态解耦;将求解出来的关系式,下载到传感器内部MCU中,实现线上解耦,最后对传感器的指标参数进行了量化评估以及误差原因分析;试验标定数据表明,所研制的传感器具有较高精度,Ⅰ类误差径向误差小于3%,轴向误差为4.6892%,Ⅱ类误差三方向均不大于0.3%;经实际应用可满足面向精密操作执行末端的三维力测量使用要求。
The three-dimensional sensor at the end of the robot actuator needs to accurately perceive the force in the three-dimensional direction,and research has been conducted on the three-dimensional force sensor of the micro-structure.A three-dimensional force sensor of the micro-structure based on the measurement principle of resistance strain gauge is designed,and the three-dimensional force calibration of the sensor is carried out.A static decoupling algorithm based on polynomial least squares method is proposed,and the algorithm is applied to complete three-dimensional force static decoupling of the sensor.The relationship formula to be solved is downloaded to the micro controller unit(MCU)inside the sensor,achieving on-line decoupling.Finally,a quantitative evaluation and err analysis are conducted on the indicators of the sensor.Experimental calibration data show that the sensor has high precision,with the class I radial error of less than 3%,the axial error of 4.6892%,and the class II error of less than 0.3%in all three directions.Through practical application,it can meet the requirements for 3D force measurement at the end of precision operation execution.
作者
李梦雪
王臻
周锦华
吴学斌
伊兴中
LI Mengxue;WANG Zhen;ZHOU Jinhua;WU Xuebin;YI Xingzhong(Beijing Institute of Precision Electromechanical Control Equipment,Beijing 100076,China;Technology Innovation Center of Control Actuator,Beijing 100076,China)
出处
《计算机测量与控制》
2025年第1期163-172,180,共11页
Computer Measurement &Control
关键词
高精度
执行末端
三维力
标定
解耦
high precision
execution end
3D force
calibration
decoupling
