通过试验研究,介绍了碰撞速度、环境刚度、负载、运动方向对碰撞接触时传感器动态性能的影响,指出上述四个方面是影响与环境碰撞后腕力传感器动态性能的主要因素;较大的动态负载力会对传感器产生破坏作用,并降低力控制性能,因此,在腕力传感器设计和使用时,应使其最大负载小于设计限值. The effects of collision velocity, environmental stiffness, load and direction of motion on dynamic performance of the sensor during collision are introduced through experimental study. It is pointed out that the above four aspects are the main factors that affect the dynamic performance of the sensor after collision with environment. The larger dynamic load The force will damage the sensor and reduce the force control performance. Therefore, when the wrist force sensor is designed and used, the maximum load should be less than the design limit.