摘要
十字梁腕力传感器广泛应用于机器人系统。腕力传感器的响应特性影响机器人系统的动态特性 ,也决定了传感器应变片的粘贴和传感器的标定方法。本文针对安装有十字梁六维腕力传感器的机械手系统的结构特点 ,以Lagrange方程为基础 ,建立机械手的动力学模型 ,研究机械手在力 (力矩 )作用下的响应特性以及机械手系统参数对机械手末端响应的影响。
Crossed-beam wrist force sensor is widely used in robot system today. The sensor's strain gauge sticking and orientation method is determined by the dynamic response characteristics of the sensor, and the dynamic characteristics of a robot system is effected by the dynamic response characteristic of the sensor. In this paper, dynamic model of a crossed-beam wrist force sensor with an only one-arm manipulator is established based on Lagrange equation and on the sensor and manipulator's structure features. A dynamic response characteristic of the manipulator is investigated, and the system parameters affect on dynamic response is analyzed.
出处
《组合机床与自动化加工技术》
北大核心
2001年第10期11-14,共4页
Modular Machine Tool & Automatic Manufacturing Technique
基金
安徽省自然科学基金项目 (项目编号 :0 0 0 43 3 10 )
关键词
机械手
传感器
模型
动态特性
manipulator
sensor
model
dynamic response
