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为提高多足仿生机器人在崎岖地形中的适应能力,设计了一种具有3维力感知能力的足端机构,该机构主要包含足端球、盖板、4个1维力传感器、基座和预紧螺栓.4个力传感器以45?倾角对称安装在基座卡槽内,根据传感器受力在水平和垂直方向的分力可实现足端球与环境间接触力的测量.首先,对足端机构的3维力测量原理进行分析,基于ADAMS仿真验证了该测量原理的正确性.在传感器标定实验中发现,预紧螺栓施加的预紧力以及足端球的材料对足端机构的3维力测量性能具有较大的影响.最后,在确定预紧力和足端球材料后,对选定参数的足端机构进行标定实验,标定结果表明,足端机构在X和Y方向的力测量精度可以达到±11.3%,Z方向的力测量精度可以达到±9.4%.
In order to improve the adaptability of multi-footed bionic robot in rough terrain, a three-dimensional force-sensing foot-end mechanism is designed, which mainly includes foot-end ball, cover plate, four 1-D force sensors, Preload bolts .4 force sensors are symmetrically installed in the base card slot 45 ° tilt, according to the sensor force in the horizontal and vertical component can be achieved between the foot of the ball and the environment contact force measurement.First of all, the foot End mechanism of the three-dimensional force measurement principle analysis, based on the ADAMS simulation to verify the accuracy of the measurement principle in the sensor calibration experiment found that the pre-tightening bolt pre-tightening force and the material of the foot ball on the foot-end mechanism 3 Dimensional force measurement performance has a greater impact.Finally, after the determination of pre-tightening force and foot ball material, the selected parameters of the foot-end mechanism calibration experiments, calibration results show that the foot-end mechanism in the X and Y direction of the force The measurement accuracy can reach ± 11.3%, and the force measurement accuracy in the Z direction can reach ± 9.4%.