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针对空间大型机械臂,设计了12维传感器,在6维力/力矩传感器基础上一体化设计了6维加速度传感器,并集成了基于FPGA(现场可编程门阵列)的高速多通道数据采集系统.采用最小二乘法和静、动态标定方式对力矩和加速度传感器分别进行了标定.设计的传感器具有维间耦合小、集成度高、易于安装、可靠性高等优点.最后,将设计的12维传感器安装在大型机械臂末端,进行了残余振动抑制试验.实验结果表明,利用此12维传感器的加速度信息,可有效地补偿惯性力、抑制机械臂末端的残余振动,设计的传感器合理可行.
Aiming at large space manipulator, a 12-dimensional sensor was designed. The 6-axis acceleration sensor was designed based on the 6-dimensional force / torque sensor and a high-speed multi-channel data acquisition system based on FPGA (Field Programmable Gate Array) was integrated. The torque and acceleration sensors were calibrated respectively by least squares method and static and dynamic calibration methods.The designed sensor has the advantages of small dimension coupling, high integration, easy installation and high reliability.Finally, the designed 12-dimensional sensor is installed The residual vibration suppression test is carried out on the end of the large arm.The experimental results show that the acceleration information of the 12-dimensional sensor can effectively compensate the inertial force and restrain the residual vibration at the end of the arm, and the designed sensor is reasonable and feasible.