摘要
为提高多足仿生机器人在崎岖地形中的适应能力,设计了一种具有3维力感知能力的足端机构,该机构主要包含足端球、盖板、4个1维力传感器、基座和预紧螺栓.4个力传感器以45?倾角对称安装在基座卡槽内,根据传感器受力在水平和垂直方向的分力可实现足端球与环境间接触力的测量.首先,对足端机构的3维力测量原理进行分析,基于ADAMS仿真验证了该测量原理的正确性.在传感器标定实验中发现,预紧螺栓施加的预紧力以及足端球的材料对足端机构的3维力测量性能具有较大的影响.最后,在确定预紧力和足端球材料后,对选定参数的足端机构进行标定实验,标定结果表明,足端机构在X和Y方向的力测量精度可以达到±11.3%,Z方向的力测量精度可以达到±9.4%.
To improve the adaptability of the multi-legged robot in rough terrain, a robotic foot capable of 3-axis force sensing is designed. The designed robotic foot is composed of five components, namely, a sensing ball, a fixed plate, 4 1-D force sensors, a base and a preloading bolt. The 4 force sensors are mounted symmetrically with 45？inclination angle in the base slots. According to the component forces detected by the force sensors in horizontal and vertical directions, the contacting force between the robotic foot and the environment can be calculated. The 3-axis force sensing principles of the robotic foot are analyzed. Based on that, an ADAMS model is established to verify the theoretical analysis. Through the sensor calibration experiment, it is found that the force exerted by preloading bolt and the material of the sensing ball have a great influence on the the 3-axis force sensing characteristics of the designed robotic foot. Finally, calibration tests of an optimized robotic foot are conducted with the selected preload and material, and the transformation matrix between voltage and force is obtained by using least square optimization method. The calibration results show that the robotic foot achieves an force sensing accuracy of ±11.3% in X and Y directions, and ±9.4% in Z direction.
出处
《机器人》
EI
CSCD
北大核心
2016年第1期75-81,共7页
Robot
基金
国家自然科学基金(61375076)
江苏省"六大人才高峰"高层次人才选拔培养项目(WLW-010)
关键词
足端机构
3维力感知
预紧力
标定
robotic foot
3-axis force sensing
preloading force
calibration
