摘要
柔性机械臂在竖直平面内受重力作用会发生弹性变形,严重影响臂架末端定位精度,采用变形补偿末端位置反馈控制需要检测柔性臂变形后姿态和末端位置。根据假设模态法小变形理论,提出一种基于应变传感器、正交编码器和姿态传感器的低成本测量方法,采集数据并计算得到柔性臂变形后姿态及末端竖直方向变形量。搭建了两自由度柔性机械臂实验系统,对提出的测量方法进行验证。结果表明该测量方法可较为准确地测量柔性臂变形姿态,实验中臂末端竖直方向绝对变形量达8.4 cm,相对于臂长变形为9.5%,测量计算误差为7%,满足柔性臂控制时的测量精度要求。
The elastic deformation of flexible manipulator under the action of gravity in the vertical plane can seriously affect the positioning accuracy of the end of the boom.It is necessary to detect the deformation attitude and the end position of the flexible manipulator by using the displacement compensation terminal position feedback control.According to the assumed mode method theory of small deformation,a low cost measurement method based on strain sensor,orthogonal encoder and attitude sensor was proposed.The data collected were calculated to get the deformation of the flexible arm's posture and the vertical direction of the end.An experimental system of two-degree-of-freedom flexible manipulator was built to verify the proposed measurement method.The results show that the measurement method can accurately measure the deformation attitude of the flexible arm.The absolute deformation of the vertical direction of the end of the experimental arm is 8.4 cm,the relative arm length is 9.5%,and the measurement and calculation error is 7%,which meets the measurement accuracy requirements of the flexible arm control.
作者
余峰
陈新元
YU Feng;CHEN Xin-yuan(Key Laboratory of Metallurgical Equipment and Control Technology,Wuhan University of Science and Technology,Ministry of Education,Wuhan 430081,China;Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering,Wuhan University of Science and Technology,Wuhan 430081,China)
出处
《仪表技术与传感器》
CSCD
北大核心
2020年第1期83-86,91,共5页
Instrument Technique and Sensor
关键词
多传感器
数据融合
柔性机械臂
弹性变形
姿态检测
末端定位
multi-sensor
data fusion
flexible manipulator
elastic deformation
attitude detection
end positioning
