摘要
为对人机碰撞安全性进行量化测量与表征,有效解决人机碰撞对人体造成伤害的问题,研发了一种协作机器人安全检测系统。系统以CompactRIO为控制器,通过力传感器和激光位移传感器进行数据采集,实现了人机碰撞中的力、功率和速度等信息的精确检测,并用LabVIEW实现了数据处理和显示。通过砝码在固定高度下自由落体进行了平台碰撞模拟试验,实验结果表明检测系统绝对测试精度小于0.5 N,相对测量精度在2.5%之内。
In order to measure and characterize the safety of human-machine collision and effectively solve the problem of human body injury caused by human-machine collision,a detection system of collaborative robot was developed.CompactRIO was used as the controller,and the force sensor and laser displacement sensor were used for data collection,which realized the accurate detection of force,power and speed information in human-computer collision.The data handing and display were realized by LabVIEW.A platform impact simulation test was carried out with the weight falling freely at a fixed height.The experimental results show that the absolute measurement accuracy is less than 0.5 N and the relative measurement accuracy is within 2.5%.
作者
靳励行
孟繁盛
田野
段星光
JIN Li-xing;MENG Fan-sheng;TIAN Ye;DUAN Xing-guang(School of Mechanical-Electronic Engineering,Beijing Institute of Technology,Beijing 100081,China)
出处
《仪表技术与传感器》
CSCD
北大核心
2021年第3期54-57,66,共5页
Instrument Technique and Sensor
基金
国家重点研发计划资助项目(2019YFB1311901)
北京市自然科学基金项目(4192053,L182025)。
关键词
协作机器人
数据采集
安全检测
collaborative robots
data acquisition
safety detection
