Ring-type combined array transmitter and method of measuring sense of touch force of underwater manipulator with same transmitter

A transmitter and ring-type technology, which is applied to the ring-type combined array transmitter to measure the tactile force of an underwater manipulator, can solve problems such as poor practicability and achieve the effect of strong practicability

Inactive Publication Date: 2016-12-07
NORTHWESTERN POLYTECHNICAL UNIV
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0004] In order to overcome the shortcomings of poor practicability of existing transmitters, the present invention provides a ri

Method used

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  • Ring-type combined array transmitter and method of measuring sense of touch force of underwater manipulator with same transmitter
  • Ring-type combined array transmitter and method of measuring sense of touch force of underwater manipulator with same transmitter
  • Ring-type combined array transmitter and method of measuring sense of touch force of underwater manipulator with same transmitter

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Embodiment Construction

[0028] The following examples refer to Figure 1-4 .

[0029] The object of the present invention is to design a ring-type combined array transmitter for underwater manipulator tactile force measurement. In order to work at different water depths, prevent measurement errors caused by water static pressure on force-sensitive elements, and realize multi-directional tactile force measurement of manipulator fingers, a ring-type differential pressure array transmitter is proposed. By designing the force measurement part as a ring type, the tactile force measurement in the 270° direction of the manipulator finger is realized. There are 39 force-sensitive units distributed on the surface of the ring structure, each force-sensitive unit includes a force-sensitive element and a temperature-sensitive element, and both the upper and lower sides of the force-sensitive element can be in contact with the external water, realizing the upper and lower layers of the force-sensitive element T...

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Abstract

The invention discloses a ring-type combined array transmitter and a method of measuring the sense of touch force of an underwater manipulator with the same transmitter, and is used for solving the technical problem that the existing transmitter is poor in practicality. The technical scheme is that the ring-type combined array transmitter is of a ring-shaped structure, and 39 force-sensitive units are distributed on the surface of the ring-type combined array transmitter. The method of measuring the sense of touch force of the underwater manipulator with the same transmitter comprises steps of signal conditioning of a sense of touch force signal measured by the ring-type array transmitter and an environmental temperature signal, data fusion and real sense of touch force output by a first signal output circuit and a second signal output circuit. A signal conditioning circuit achieves signal amplification and RC filtering of the force signal and the temperature signal. A data acquisition circuit achieves digital quantity acquisition of the measured sense of touch force signal and the temperature signal by a microcontroller in a time sharing and chip selection manner. The microcontroller completes BP network data fusion of the force signal and the temperature signal, and achieves real sense of touch force output. Therefore, the measurement of the sense of touch force of the underwater manipulator is completed, and the practicality is strong.

Description

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Claims

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Application Information

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Owner NORTHWESTERN POLYTECHNICAL UNIV
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