【摘要】 为了满足足式机器人动态性能与环境适应性的要求,将测力元件与弹性元件相结合,提出了一种可用于机器人足部的柔性传感装置。通过对其力学模型的分析,给出了三维力/力矩计算与底面倾角估算方法。同时针对装置要求,完成了基于ARM的检测系统的软硬件设计与实现方案,并对装置关键参数进行了标定。针对传感器的实验表明,在X、Y倾角小于20°的情况下,装置综合误差小于3%,可满足足部测量的需要。该装置体积小,精度高,反馈信息丰富,可为足式机器人的步态优化提供重要数据。更多还原

【Abstract】 In order to meet the requirements of dynamic performance and environmental adaptability of robot,combining with force element and elastic element,a flexible sensing device which can be used for robot foot is proposed.Though analyzing the mechanics model,the three-dimensional force / torque calculation and bottom angle estimating method are given. According to the requirement of the equipment,the hardware-software design and implementation scheme are completed for the detection system based on ARM,and the key parameters are calibrated either. The sensor experiment shows that the comprehensive error of the device can be less than 3%,when X / Y angle is less than 20°,which can meet the requirement of foot measuring. The device has the advantages of small size,high precision,informative feedback,and can provide important data to legged robots for gait optimization.更多还原