一种指尖三维力传感器设计

摘要

A three dimensional force sensor is designed for simulating the humanoid dexterous hand.Using the structure of the combination of the cross beam and the central straight beam to achieve perception of three-dimensional force,using ANSYS tool for the design of cross beam elastic body statics is analyzed,optimized through the analysis of the structure size of elastomer,and give the optimal placement scheme.The static calibration experiment was conducted on the designedthree-dimensionalfingertip force sensor,andestablished the dimension coupling error model,using the static decoupling algorithm to decouple the error of sensor,effectively improve measurement precisionof the fingertip threedimensional force sensor.The experimental resultsmake knowthat the measurement precision of the designed threedimensional fingertip force sensor is better than 2.5％.%设计了一种用于仿人灵巧手的指尖三维力传感器,采用十字梁与中心直梁相结合的结构实现对三维力的感知.首先利用ANSYS工具对设计的十字梁弹性体进行静力学分析,通过分析对弹性体的结构尺寸进行了优化,并给出了最佳贴片方案;最后对设计的指尖三维力传感器进行静态标定试验,建立了维间耦合误差模型,利用静态解耦算法对传感器耦合误差进行解耦计算,有效提高了指尖三维力传感器的测量精度.实验结果表明:设计的三维指尖力传感器的测量精度优于2.5％.