一个紧的六轴力/扭矩传感器,使用光合器来实现冲击强度
Hyun-Bin Kim1, Keun-Ha Choi1, Kyung-Soo Kim1
1Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), 291 Daehak-ro, Yuseong-gu, Daejeon 34141, Republic of Korea.
The Review of scientific instruments
|April 30, 2024
概括
本研究介绍了一个小型,轻量级的六轴力/扭矩 (F/T) 传感器用于机器人. 它的新设计提供了高测量范围,卓越的分辨率和快速采样率,增强了机器人应用.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 传感器技术 传感器技术
- 机械工程 机械工程
背景情况:
- 机器人系统需要精确的力和扭矩测量,以实现先进的操纵和交互.
- 现有的力/扭矩传感器通常面临尺寸,重量,制造复杂性或性能方面的限制.
- 需要紧,高性能传感器,可以轻松制造和集成到机器人系统中.
研究的目的:
- 为机器人应用提供一种新的六轴力/扭矩 (F/T) 传感器设计.
- 开发一种既紧又易于制造的传感器,同时保持高性能.
- 为了展示一个具有改进测量范围,分辨率和响应频率的传感器.
主要方法:
- 在单个印刷电路板上开发了一种新的飞机内传感元件安排.
- 使用非接触式传感器和精简的结构来提高耐用性和传感范围.
- 一个集成的模拟数字转换器被纳入,以简化外部通信要求.
主要成果:
- 设计的传感器实现了大约3700N的高测量范围和0.1N的特殊分辨率.
- 实现了5kHz的快速采样速率和80g以下的重量.
- 这种轻型原型在与参考传感器进行验证时,表现出卓越的性能和高响应频率.
结论:
- 新的六轴F / T传感器设计提供了紧性,易于制造和高性能的引人注目的组合.
- 传感器的特点,包括其广泛的传感范围和高响应频率,使其适用于苛刻的机器人应用.
- 这一发展代表了机器人传感器技术的重大进步,使得机器人系统更加复杂和高效.
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