The invention relates to a
manipulator tail end and method based on intelligent sensing of ultrasonic
surface wave contact stress. The
manipulator tail end and method are suitable for real-time monitoring of local contact stress of the
tail end when an
industrial manipulator grabs an object. The
manipulator tail end comprises a specially-made manipulator columnar or spherical tail end, an ultrasonic transmitting and receiving probe, probe supports, adjusting bolts and nuts, an ultrasonic transmitting and receiving device, a
data acquisition card and a computer. The probe supports are installedon the upper plane and the lower plane of the manipulator tail end, and the adjusting bolts and nuts on the probe supports are used for adjusting and fixing the position of the probe. The probe, theultrasonic transmitting and receiving device, the
data acquisition card and the computer are sequentially connected. During work, the ultrasonic transmitting and receiving device sends out an electricsignal to stimulate the ultrasonic transmitting probe to generate surface
waves; the surface
waves are transmitted along the surface of the manipulator tail end, and the receiving probe receives thesurface
waves, converts the surface waves into an
electric signal and transmits the
electric signal back to the ultrasonic transmitting and receiving device; and the
data acquisition card samples anddigitizes the sent and received signals, by the computer, data storage and calculation analysis are achieved to obtain change of the
surface wave transmission time, real-time monitoring of the local contact stress of the manipulator tail end is achieved, and the
industrial manipulator which is cold originally has the capacity of sensing the contact stress.