[1]于 通 杨双楠 贾君孟.四足机器人电容型力矩传感器设计与分析[J].大众科技,2023,25(12):6-10.
　Design and Analysis of Capacitive Torque Sensor for Quadruped Robots[J].Popular Science & Technology,2023,25(12):6-10.
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四足机器人电容型力矩传感器设计与分析()
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《大众科技》[ISSN:1008-1151/CN:45-1235/N]

卷:
25
期数:
2023年12
页码:
6-10
栏目:
信息技术与通信
出版日期:
2023-12-20

文章信息/Info

Title:
Design and Analysis of Capacitive Torque Sensor for Quadruped Robots
作者:
于 通 杨双楠 贾君孟
（长安大学工程机械学院，陕西 西安 710054）
关键词:
电容式传感器; 差动式; 力矩传感器; 解耦; 有限元分析
Keywords:
capacitive sensor;  differential type;  torque sensor;  decoupling;  finite element analysis
文献标志码:
A
摘要:
力矩传感器被用来感知外界环境和机器人系统之间交互力的大小，精确测量力、力矩大小可提高机器人系统控制的精准度。由于受机器人大小尺寸、机身重量、经济成本等方面的约束，传统的力矩传感器不适用于机器人系统。文章设计一种新型的机器人系统用测量关节力矩的电容型力矩传感器，通过研究电容感应机理与传感器结构设计，多方向微量形变分析与多维信号解耦方法等内容，实现对机器人关节力矩传感器的设计，并通过有限元仿真验证该方案的可行性。
Abstract:
Torque sensors are used to sense the magnitude of interaction forces between the external environment and robot systems, and precise measurement of force and torque can improve the accuracy of robot system control. Due to the constraints of robot size, body weight, and economic cost, traditional force sensors are not suitable for application in robot systems. This article introduces a new type of capacitive torque sensor for measuring joint torque in robot systems. By studying the mechanism of capacitive induction and sensor structure design, multi-directional micro deformation analysis, and multi-dimensional signal decoupling methods, the design of robot joint torque sensors is achieved. The feasibility of the scheme is verified by finite element simulation.

参考文献/References:

[1]　KIM U, LEE D H, KIM Y B, et al. A novel six-axis force/torque sensor for robotic applications[J]. IEEE/ASME Transactions on Mechatronics, 2017, 22(3): 1381-1391.[2] KIM Y B, KIM U, SEOK D Y, et al. A novel capacitive type torque sensor for robotic applications[C]// 2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM). Banff, AB, Canada. IEEE, 2016: 993-998.[3] MA J Q, SONG A. Fast estimation of strains for cross-beams six-axis force/torque sensors by mechanical modeling[J]. Sensors, 2013, 13(5): 6669-6686.[4] GOODNO B J, GERE J M. Mechanics of materials[M]. New York: Cengage learning, 2020.[5] FANKHAUSER P, HUTTER M. ANYmal: A unique quadruped robot conquering harsh environments[J]. Research Features, 2018, 126: 54-57.

备注/Memo

备注/Memo:
【收稿日期】2023-03-16【作者简介】于通（1997－），男，长安大学工程机械学院硕士研究生，研究方向为机器人关节电机驱动。
更新日期/Last Update: 2024-03-04