机器人智能碰撞传感器的设计与仿真

摘要

为了提高机器人手部发生触碰时的安全防护性能,在触碰的瞬间能实现急停,确保设备和人员的安全,设计了一种具有惯性检测的电磁伺服型高灵敏度碰撞传感器,主要采用"惯性感知+电磁伺服"的方式,动态剔除惯性力成分,使碰撞传感器仅对碰撞力反应,提高了机器人手部的触碰灵敏度.计算表明:碰撞触发力的阈值由24.73 N降低到了12.88 N;相比传统的碰撞传感器,其灵敏度大幅提高,进一步提高了机器人的安全防护性能,具有一定的理论价值与工程应用价值.%In order to improve safety protection performance of robot hand when the collision happens,at the moment of the touch can achieve emergency stop,to ensure the safety of equipment and personnel,design an electromagnetic servo type high sensitivity impact sensor with inertial measurement,mainly uses the "inertia perception+electromagnetic servo" mode,dynamically eliminate inertial force components,which make collision sensor only responses to the collision force,improve the touch sensitivity of robot hand. Calculation result shows that the collision force is reduced from 24. 73 N to 12. 88 N;compared to traditional collision sensor,its sensitivity is greatly improved. Further improve the safety protection performance of the robot,and has a certain theoretical value and engineering application value.