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On-line torque detection method for robot joints driven by artificial muscles

A technology of robot joints and detection methods, applied in force/torque/power measuring instruments, instruments, measuring devices, etc., can solve problems such as the tension of the first artificial muscle group traction line and joint torque, and achieve convenient testing, suitable for The effect of popularization and application and simple structure

Active Publication Date: 2018-11-13
ZHEJIANG UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The applicant designed an artificial muscle group to drive the bionic joint, but there are big problems in the detection of the tension of the first artificial muscle group traction line and the joint torque

Method used

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  • On-line torque detection method for robot joints driven by artificial muscles
  • On-line torque detection method for robot joints driven by artificial muscles
  • On-line torque detection method for robot joints driven by artificial muscles

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Embodiment Construction

[0045] The present invention will be further described below in conjunction with accompanying drawing of description, but protection scope of the present invention is not limited thereto:

[0046] Such as Figure 1-8 As shown, the artificial muscle group-driven bionic joint torque detection device used in the present invention's artificial muscle group-driven bionic joint torque detection device, referred to as the joint torque detection device 07, is arranged between the main joint 08 and the artificial muscle group-driven bionic joint. Between the first auxiliary joint 03 and the second auxiliary joint 04, there are bottom plate 10, second fixed plate 13, first fixed plate 11 and top plate 14 connected by the first guide rail 15 and the second guide rail 16, and the moving plate 12 passes through the second The linear bearing with seat 20 and the second linear bearing with seat 21 are connected to the two guide rails, the screw nut 31 is fixedly connected to the moving plate...

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Abstract

The invention relates to an online detection method for the moment of an artificial muscle group driven robot joint, belonging to the technical field of moment detection. According to the online detection method, a strain gauge is adhered to a stress-sensitive elastic element by virtue of a double-hole cantilever parallel girder strain type sensor according to a force triangle relation in mechanics and a principle that a force is unchangeably transferred on a flexible rope, and when the elastic element is stressed to be deformed, the strain gauge generates a corresponding strain, the strain is converted into resistance variation and is converted into voltage variation of a measurement circuit, a certain numerical value can be measured at a proper position where the elastic element is clamped to a stay cord by measuring a numerical value of an output voltage under the condition that the tension of the stay cord is released, and an actual tension and a joint moment of the stay cord can be converted through certain arithmetical operation, and therefore, the stringing of a force measurement into an artificial muscle group driven robot joint system can be reduced. The online detection method is suitable for popularization and application, the structure is simple, and the testing is convenient.

Description

technical field [0001] The invention belongs to the technical field of torque detection, and in particular relates to an online torque detection method for artificial muscle groups driving robot joints. Background technique [0002] The robot joint is an important part that affects the dynamic and static characteristics of the robot. The applicant has designed a bionic joint driven by artificial muscles, but there are serious problems in the detection of the tension of the first artificial muscle traction line and the joint torque. Contents of the invention [0003] In view of the above-mentioned problems existing in the prior art, the purpose of the present invention is to provide an online detection method for the torque of the artificial muscle group driving the robot joint. [0004] The online detection method of the moment of the artificial muscle group driving the robot joint is completed by controlling the mechanical part of the control part. The control part inclu...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01L5/00
CPCG01L5/00
Inventor 应申舜陈国达计时鸣
Owner ZHEJIANG UNIV OF TECH
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