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Method for measuring three-dimensional contact force of tail end of mechanical hand of teleoperation robot

A technology of a teleoperated robot and a measurement method, which is applied in the field of force parameter determination of a teleoperated robot manipulator, can solve the problems of difficult assembly, high power consumption, low sensitivity and the like

Active Publication Date: 2012-08-22
SOUTHEAST UNIV
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Problems solved by technology

In 1995, Chen Hui from the Computer Engineering Department of Nanjing University of Posts and Telecommunications proposed a method based on semiconductor strain gauge accelerometers to eliminate the influence of inertial force on the output of robot wrist force sensors, which has low sensitivity, high power consumption and is not easy to assemble.

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  • Method for measuring three-dimensional contact force of tail end of mechanical hand of teleoperation robot
  • Method for measuring three-dimensional contact force of tail end of mechanical hand of teleoperation robot
  • Method for measuring three-dimensional contact force of tail end of mechanical hand of teleoperation robot

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Embodiment Construction

[0025] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0026] refer to figure 2 , is a telepresence remote operation robot manipulator device, and its main task is to carry out operations such as object grasping in extreme environments such as high temperature, high pressure, strong radiation, and suffocation that are difficult for people to approach. It includes a teleoperation manipulator gripper 1, a first three-dimensional force sensor 3, a teleoperation manipulator forearm 5, a second three-dimensional force sensor 7, a teleoperation robot elbow joint 10 composed of a hinge, and the second three-dimensional force sensor is fixed between the hinge and the forearm. The base 9 of the force sensor and the rear arm 11 of the teleoperated mechanical arm. The first three-dimensional force sensor 3 is fixed to the front end of the forearm 5 of the teleoperated manipulator through the flange plate 4 ...

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Abstract

The invention provides a method for measuring three-dimensional contact force of the tail end of a mechanical hand of a teleoperation robot. The teleoperation mechanical hand comprises a connection totality of a mechanical arm and a mechanical paw, and is characterized in that two three-dimensional sensors are arranged; a first three-dimensional sensor is arranged between the forearm of the mechanical arm and the mechanical paw; a second three-dimensional sensor is arranged between the rear arm of the mechanical arm and the forearm of the mechanical arm; the mass of the mechanism paw is defined into m; the total mass of the first mechanical paw, the forearm of the mechanical arm and the first three-dimensional sensor are defined into M; m and M are brought into a computation formula; and the three-dimensional contact force of the teleoperation mechanical hand and the surrounding environment can be directly calculated. In the invention, the interference of the inertia force can be effectively eliminated without loading an accelerometer and the resolution of acceleration, thus the measurement accuracy of a three-dimensional force sensor for measuring the contact force of the mechanical hand can be improved; and the method has the characteristics of simplicity, convenience and accuracy and the like.

Description

technical field [0001] The invention relates to a method for measuring force parameters of a manipulator of a teleoperated robot, in particular to a method for measuring a three-dimensional contact force at the end of a manipulator of a teleoperated robot. The method is based on setting two three-dimensional force sensors, which is suitable for reducing or eliminating the influence of the inertial force produced by the non-uniform motion of the teleoperated manipulator on the measurement of the contact force of the three-dimensional force sensor. Background technique [0002] Teleoperation robot refers to a remote operating system that can complete relatively complex operations under the operation of humans in an environment that is inaccessible or harmful to humans. Teleoperation robot technology is the frontier of interactive robot technology, and it can be widely used in telemedicine, space exploration, ocean development and other fields. The teleoperation robot gripper ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J19/00B25J13/00
Inventor 宋爱国马俊青茅晨吴涓崔建伟
Owner SOUTHEAST UNIV
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