摘要
本文提出了一种新型水下作业机械手用六维腕力传感器。该传感器具有结构简单 ,易于加工、密封和水压力补偿的特点。文中介绍了该传感器的机械结构、弹性体的力学模型和力—变形转换矩阵。文章最后对设计的腕力传感器进行了标定 ,获得了传感器的转换矩阵 。
This paper provides a six- component wrist F/ T sensor for the underwater executive robot.And the mathematical model of force detecting has been concluded.The transmission matrix of the sensor has been con- cluded.The wrist F/ T sensor has been calibrated.And the result of the calibration test is analyzed.
出处
《仪器仪表学报》
EI
CAS
CSCD
北大核心
2001年第4期388-390,共3页
Chinese Journal of Scientific Instrument
关键词
水下机器人
六维腕力传感器
水下作业
Underwater robot Six- axis wrist force sensor Underwater execution
