面向精密操作执行末端三维力感知技术研究

Keywords:high precision,execution end,3D force,calibration,decoupling

摘要:

机器人执行器末端三维传感器需要对三维方向受力大小进行精确感知，对微结构三维力传感器进行了研究，采用电阻应变片测量原理，设计了一种微结构三维力传感器，对传感器进行了三维力标定，提出了一种基于多项式最小二乘法的静态解耦，并应用该算法完成传感器的三维力静态解耦。将求解将求解出来的关系式，下载到传感器内部MCU中，实现线上解耦，最后对传感器的指标参数进行了量化评估以及误差原因分析。试验标定数据表明，所研制的传感器具有较高精度，Ⅰ类误差径向误差小于3%，轴向误差为4.6892%，Ⅱ类误差三方向均不大于0.3%。经实际应用可满足面向精密操作执行末端的三维力测量使用要求。

Abstract:

The three-dimensional sensor at the end of the robot actuator needs to accurately perceive the force in the three-dimensional direction. The three-dimensional force sensor of the micro-structure is studied. A three-dimensional force sensor of the micro-structure is designed based on the measurement principle of resistance strain gauge, and the three-dimensional force calibration of the sensor is carried out. The algorithm is applied to complete the three-dimensional force static decoupling of the sensor. The relationship formula to be solved is downloaded to the MCU of the sensor, and the on-line decoupling is realized. Finally, the index parameters of the sensor are quantitatively evaluated and the error causes are analyzed. The experimental calibration data show that the sensor has high precision, the radial error of class I is less than 3%, the axial error is 4.6892%, and the class II error is less than 0.3% in all three directions. Through practical application, it can meet the requirements of 3D force measurement for precision operation execution end.