摘要
针对六自由度机械臂关节扭矩传感器,为有效地提取机械臂关节的扭矩信号,提出一种适用于单轴扭矩传感器的信号提取方法。通过设计信号调理电路,采集扭矩信号,对电桥输出的微弱信号进行放大,同时减小同步温漂对信号输出的影响,解决电路的零偏问题。对扭矩测量传感器进行标定试验,得到扭矩测量传感器的性能指标及每个关节承受的扭矩与输出电压之间的关系。通过试验,验证了采用双全桥电路测量扭矩的可靠性。
Aiming at the 6 DOF robotic arm joint torque sensor,in order to extract the torque signal of the robotic arm joint effectively,a signal extraction method suitable for the uniaxial axis torque sensor was proposed.By designing a signal conditioning circuit,the torque signal was collected,the weak signal output by the bridge was amplified,and the effect of synchronous temperature drift on the signal output was reduced to solve the zero offset problem of the circuit.The performance indicators of the torque measurement sensor and the relationship between the torque of each joint and the output voltage were obtained by the calibration experiment of the torque measurement sensor.Through experiment,the reliability of measuring torque with the double full bridge circuit was verified.
作者
范亚南
牛廉政
张奇
张忠海
李想
FAN Yanan;NIU Lianzheng;ZHANG Qi;ZHANG Zhonghai;LI Xiang(School of Mechanical and Materials Engineering,North China University of Technology,Beijing 100144,China;Beijing Aerospace Measurement&Control Technology Co.,Ltd.,Beijing 100041,China)
出处
《机床与液压》
北大核心
2021年第13期35-40,共6页
Machine Tool & Hydraulics
基金
国家自然科学基金面上项目(51775002)。
关键词
单轴扭矩传感器
信号提取
双全桥电路
信号调理
零偏
性能指标
Uniaxial torque sensor
Signal extraction
Double full bridge circuit
Signal conditioning
Zero offset
Performance indicators
