基于石英晶体的传感器头设计与分析在机器人扭矩传感器中的应用

Cobot Pub Date : 2022-04-26 DOI:10.12688/cobot.17474.1
Hao Fu, Chin-Yin Chen, Chongchong Wang, MinChiang Chao, Qiang Zhou, Guilin Yang, Guozhi Wang
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引用次数: 1

摘要

背景:近年来,随着机器人人机交互的逐步发展,机器人需要满足对更复杂运动的精确控制。扭矩传感器起着重要的作用。传统的应变片传感器采用金属应变片作为敏感元件,这意味着传感器响应慢,分辨率低,容易受到外界信号噪声的影响。针对应变片传感器存在的不足,提出了一种以切割石英方片为传感器头的应变片传感器。方法:为了研究石英方形传感头在传感器中的应用,首先利用COMSOL(5.6)仿真建模,得到方形石英片与圆形石英片之间的应力关系。然后对圆形石英片的力频率系数计算公式进行修正,得到方形石英片的力频率系数计算公式,并通过实际实验验证公式的可行性。其次,对石英晶片的屈曲极限力进行了理论模拟和实验研究,并对石英晶片安装过程中的屈曲极限力公式进行了修正。最后,将所设计的灵敏头安装在弹性体结构上进行验证。频率信号由SGS-THOMSON Microelectronics 32采集,采样率为1000Hz。结果:该传感器的主要性能为:量程150nm,灵敏度350Hz / nm,线性度98.14%,滞后率0.51%,重复性98.44%,分辨率0.02%。结论:所设计的石英晶片作为扭矩传感器的敏感单元,可以获得高响应时间和高分辨率,解决了传统应变式扭矩传感器分辨率低、响应时间慢的问题,降低了传感器的使用成本。
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Quartz crystal based sensor head design and analysis for robot torque sensor application
Background: In recent years, with the gradual development of robot human-computer interaction, robots need to meet the precise control of more complex motion. Torque sensors play an important role. The traditional strain gauge sensor uses a metal strain gauge as the sensitive element, which means that the sensor has a slow response, low resolution and can easily be affected by external signal noise. Aiming at these deficiencies of strain gauge sensors, a sensor with cutting quartz square sheet as the sensor head is proposed. Methods: In order to study the application of quartz square sensing head in the sensor, firstly, COMSOL (5.6) simulation modeling is used to obtain the stress relationship between square quartz sheet and circular quartz sheet. Then the calculation formula of the force frequency coefficient of the circular quartz sheet is modified to obtain the calculation formula of the force frequency coefficient of the square quartz sheet, and the feasibility of the formula is verified by practical experiments. Next, the theoretical simulation and experimental research on the buckling limit force of quartz wafer are carried out, and the formula of buckling limit force in the process of quartz wafer installation is modified. Finally, the designed sensitive head is installed on the elastomer structure for verification. The frequency signal is collected by SGS-THOMSON Microelectronics 32 with a sampling rate of 1000Hz. Results: The main performances of the sensor are range 150nm, sensitivity 350Hz / nm, linearity 98.14%, hysteresis 0.51%, repeatability 98.44%, resolution 0.02%. Conclusions: As the sensitive unit of the torque sensor, the designed quartz wafer can obtain high response time and high resolution, solve the problems of low resolution and slow response time of the traditional strain gauge torque sensor, and reduce the use cost of the sensor.
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Cobot
Cobot collaborative robots-
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期刊介绍: Cobot is a rapid multidisciplinary open access publishing platform for research focused on the interdisciplinary field of collaborative robots. The aim of Cobot is to enhance knowledge and share the results of the latest innovative technologies for the technicians, researchers and experts engaged in collaborative robot research. The platform will welcome submissions in all areas of scientific and technical research related to collaborative robots, and all articles will benefit from open peer review. The scope of Cobot includes, but is not limited to: ● Intelligent robots ● Artificial intelligence ● Human-machine collaboration and integration ● Machine vision ● Intelligent sensing ● Smart materials ● Design, development and testing of collaborative robots ● Software for cobots ● Industrial applications of cobots ● Service applications of cobots ● Medical and health applications of cobots ● Educational applications of cobots As well as research articles and case studies, Cobot accepts a variety of article types including method articles, study protocols, software tools, systematic reviews, data notes, brief reports, and opinion articles.
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