【摘要】 本文首先提出了一种新结构的水下机械手用六维腕力传感器;然后为其设计了信号放大、滤波和调零电路;最后,设计了以内置CAN总线控制器的80C592单片机为核心的传感器信号解耦和通讯单元,使该传感器成为一个独立的智能化单元。更多还原

【Abstract】 Firstly, a six-axis wrist force sensor using a thin-walled cylinder as detective section is proposed in this paper. Secondly, a current for it is developed, which consists of a bridge zero modulation current, signal amplifier and analog filter. At last, a micro-computer 80C592 with inboard CAN controller is used as the center of intellectualized signal processing cell to fulfill calculating and communication.更多还原