基于四杆连杆形状的机器人操纵器关节高灵敏度扭矩传感器的研制。

Development of Torque Sensor with High Sensitivity for Joint of Robot Manipulator Using 4-Bar Linkage Shape.

作者信息

Zhang Hong-Xia, Ryoo Young-Jae, Byun Kyung-Seok

机构信息

Department of Mechanical Engineering, Mokpo National University, Jeonnam 585543, Korea.

Department of Control Engineering and Robotics, Mokpo National University, Jeonnam 58554, Korea.

出版信息

Sensors (Basel). 2016 Jul 1;16(7):991. doi: 10.3390/s16070991.

DOI:10.3390/s16070991

PMID:27376304

原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC4970042/

Abstract

The torque sensor is used to measure the joint torque of a robot manipulator. Previous research showed that the sensitivity and the stiffness of torque sensors have trade-off characteristics. Stiffness has to be sacrificed to increase the sensitivity of the sensor. In this research, a new torque sensor with high sensitivity (TSHS) is proposed in order to resolve this problem. The key idea of the TSHS comes from its 4-bar linkage shape in which the angular displacement of a short link is larger than that of a long link. The sensitivity of the torque sensor with a 4-bar link shape is improved without decreasing stiffness. Optimization techniques are applied to maximize the sensitivity of the sensor. An actual TSHS is constructed to verify the validity of the proposed mechanism. Experimental results show that the sensitivity of TSHS can be increased 3.5 times without sacrificing stiffness.

摘要

扭矩传感器用于测量机器人操纵器的关节扭矩。先前的研究表明，扭矩传感器的灵敏度和刚度具有权衡特性。为了提高传感器的灵敏度，必须牺牲刚度。在本研究中，为了解决这个问题，提出了一种新型高灵敏度扭矩传感器（TSHS）。TSHS的关键思想来自其四杆连杆形状，其中短连杆的角位移大于长连杆的角位移。具有四杆连杆形状的扭矩传感器在不降低刚度的情况下提高了灵敏度。应用优化技术来最大化传感器的灵敏度。构建了一个实际的TSHS来验证所提出机制的有效性。实验结果表明，TSHS的灵敏度可以在不牺牲刚度的情况下提高3.5倍。