【作者】 唐玮；

【导师】 刘正士；

【作者基本信息】 合肥工业大学 ， 机械设计及理论， 2003， 硕士

【摘要】 本论文是智能机器人传感器技术网点实验室项目“水下机器人多维力传感器的设计与研究”的一部分，以目前机器人多维力传感器中最为典型的六维力传感器为例，叙述了水下机器人和多维力传感器的发展状况，并对目前多维力传感器弹性体在水下机器人研究中存在的问题进行了分析，对其在深水中存在的问题提出了解决方法；在确定传感器结构的基础上，建立了弹性体实际工况的力学模型，重点分析了了几种典型传感器的结构，即实心柱体、封闭壳体和柔性封闭结构，分别计算了这三种结构在10米、6000米水深下不同材料的力学性能以及变形情况，在综合比较这几种典型传感器的基础上，确定了传感器采用柔性封闭结构。应用ANSYS分析弹性体在各种工况下应力地分布情况，同时分析了弹性体自由振动的固有频率和振型，在完成上述工作的前提下，对弹性体进行了优化设计。最后对应变传递系统进行了力学初步分析，介绍了使用应变式传感器的原因，应变片的基本工作原理及其分类，和应变计的主要特性，以及粘贴结构的应变传递模型，还介绍了应变计的粘贴，包括应变计粘贴工艺的重要性、粘接剂的要求和分类等。更多还原

【Abstract】 The work reported in this paper is supported by "design and research on multidimensional sensor of robot under the water" from the intelligent robot sensor technology node laboratory. Taking the most typical six-dimensional force sensor for example, this paper narrates the development of underwater robot and multidimensional force sensor, analyzes the problems of elastic body of multidimensional force sensor and presents solutions to the problems in the deep water. In the base of determining the structure of sensor, dynamical model of elastic body in actual working conditions is established and several structures of sensors (solid cylinder, closed crust, flexible closed structure) is paid great attention. Then the mechanical performance and distorting circumstances of various materials of these structures under the water 10, 6000 meters are calculated respectively. After integrative comparison of several typical sensors, flexible closed structure of sensors is determined. The stress distribution patterns for typical load cases of elastic body are analyzed in details with ANSYS. In the meantime, natural frequency and normal mode of elastic body are analyzed. After finishing above work, the optimization design of elastic body for the sensor has been carried out. Finally this paper has a preliminary analysis .of strain transfer system and introduces the reason of using strain sensors, basic working principles, main characteristics and stick techniques of strain gauge.更多还原