基于八角环二维力传感器抓取力控制研究

摘要

A two-axial force sensor of octagonal ring is designed,finite element analysis on sensor and strain nodes analysis are carried out with simulation software ANSYS. By sensor statical calibration test to get the calibration matrix,which solves the problem of coupling because of production error and strain gauges pasted error. A two-parallel-fingers hand and a gripper system based on a controller of force closed-loop are designed. And the maximum coefficients of static friction between different materials are detected. Actual gripping experiment shows a good effect of stable gripping using force-ratio control.%设计了一种小型八角环二维力传感器,利用ANSYS仿真软件对传感器进行了有限元和应变节点分析,通过传感器静态标定实验得到了标定解耦矩阵,解决了由于加工误差和应变计粘贴误差带来的力矩耦合问题.设计了二指平行手爪,搭建了基于力外环控制的夹持器系统.运用手爪测量了不同材料之间的最大静摩擦系数.实际的抓取实验验证了基于力比例控制的稳定抓取具有良好效果.