【摘要】：隨著機器人技術的發(fā)展,機械手被廣泛應用于物體拾放。利用滑覺能準確檢測抓取物體所需的力或力矩,提高機械手抓取的可靠性�，F(xiàn)有的滑覺傳感器主要采用加速度、視覺識別、電壓檢測等原理。但由于受到技術水平和制造成本的限制,滑覺傳感器的研究總體仍處于探索階段。論文提出了一種基于光纖微彎效應的滑覺傳感器,用來檢測抓取物體時的相對滑動。傳感器基于光纖微彎損耗原理,通過“力信號——位移信號——光通量——電壓信號”的轉化從而測量物體與機械手之間的摩擦力。設計了一種懸臂彈力齒板結構實現(xiàn)力信號——位移信號的轉化,優(yōu)點在于形變量較小且有較好的重復精度。進一步分析位移信號——光通量損耗之間的關系,確定了懸臂彈力齒板的重要參數(shù),包括:齒距、齒廓半徑、彈性懸臂組的胡克系數(shù)等。通過光電轉換電路把光通量轉換成電壓信號。以上系統(tǒng)組成一個測量單元。傳感器由兩個相互正交的測量單元組成,分別用來測量X/Y方向的兩個摩擦力。為精確地獲得傳感器的力信號和電壓信號之間的關系,需要進行標定試驗。首先分別對X/Y方向的兩個單元單獨進行標定,結果得到力信號和電壓呈現(xiàn)明顯的線性相關,相關系數(shù)分別為0.99963與0.99869。系數(shù)不同的原因是兩傳感器單元彈性懸臂組的胡克系數(shù)不同。接著對組合的傳感器在各個方向上進行標定,發(fā)現(xiàn)由于摩擦力的存在,實驗結果存在誤差。進一步地對摩擦力進行補償后,實驗表明,負載與X軸夾角在30°~60°范圍內時,總體誤差在±2%以內,能滿足傳感器檢測需要,表明該傳感器設計方案是有效的。搭建試驗平臺模擬機械手抓取試驗裝置,測量傳感器與物體間的摩擦力,包括:靜摩擦力和滑動摩擦力。試驗結果顯示當傳感器與物體間從靜摩擦力轉變?yōu)榛瑒幽Σ亮r,電壓信號存在一個明顯的下降沿。當加載載荷為16N時,下降沿的電壓降約為1V。因此可以很容易地被檢測出物體和傳感器之間發(fā)生滑動的時刻。
[Abstract]:With the development of robot technology, manipulator is widely used in object picking. The slip sense can accurately detect the force or torque needed to grab the object and improve the reliability of the manipulator. The existing slip sensor mainly adopts the principles of acceleration, vision recognition, voltage detection and so on. However, due to the limitation of technology level and manufacturing cost, the research of slide sensor is still in the exploration stage. In this paper, a slide-sensing sensor based on optical fiber micro-bending effect is proposed to detect the relative slippage of an object. Based on the principle of optical fiber micro-bending loss, the sensor measures the friction between the manipulator and the object through the conversion of "force signal, displacement signal, luminous flux voltage signal". A cantilever elastic-tooth plate structure is designed to realize the transformation of force signal, displacement signal, which has the advantages of small deformation and good repetition accuracy. Based on the analysis of the relationship between the displacement signal and the luminous flux loss, the important parameters of the cantilever elastic tooth plate are determined, including the tooth pitch, the radius of the tooth profile, the Hook coefficient of the elastic cantilever group, and so on. The flux of light is converted into a voltage signal by the photoelectric conversion circuit. The above system constitutes a measuring unit. The sensor consists of two orthogonal measuring units used to measure two friction forces in the X / Y direction. In order to obtain the relationship between the force signal and the voltage signal accurately, calibration experiments are needed. First, the two units in the X / Y direction are calibrated separately, and the results show that the force signal and the voltage show obvious linear correlation, the correlation coefficients are 0.99963 and 0.99869 respectively. The difference in coefficient is due to the difference of Hook coefficient in the elastic cantilever group of two sensor elements. Then the combined sensors are calibrated in various directions and the experimental results are found to be error due to the existence of friction. After the friction is compensated further, the experiment shows that the overall error is within 鹵2% when the angle between the load and the X axis is 30 擄~ 60 擄, which can meet the needs of the sensor detection, which shows that the sensor design scheme is effective. A test platform was built to simulate the grab test device of manipulator to measure the friction between the sensor and the object, including static friction and sliding friction. The experimental results show that when the static friction force is changed to the sliding friction force between the sensor and the object, there is an obvious drop edge in the voltage signal. When the load is 16 N, the voltage drop along the drop edge is about 1 V. Therefore, it is easy to detect the time of sliding between the object and the sensor.
【學位授予單位】：浙江理工大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP212

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