基于气压感知的柔性碰撞检测皮肤设计
Skin design for flexible collision detection based on air pressure sensing
李瑞涛 1孔全存 2杜中伟 1宋丽江 1吴欣颖 1朱慕伦1
作者信息
- 1. 北京信息科技大学仪器科学与光电工程学院,北京100192
- 2. 北京信息科技大学仪器科学与光电工程学院,北京100192;北京信息科技大学精密测量技术与仪器研究所,北京100192
- 折叠
摘要
针对机器人在复杂环境运行中存在的碰撞安全问题,提出了一种基于气压监控的柔性碰撞检测皮肤.设计并搭建了实验台对柔性碰撞检测皮肤进行碰撞实验,对该皮肤进行了性能分析,实物实验证明:该皮肤设计具有较高的可行性与可靠性.同时,通过有限元分析方法对柔性皮肤进行了充气与碰撞过程的仿真分析,仿真验证了柔性碰撞检测皮肤设计的可行性.仿真结果与实物实验数据具有较高的一致性,验证了有限元仿真模型的可靠性.
Abstract
Aiming at the collision safety problems of operating robots in complex environments,a flexible collision detection skin based on air pressure monitoring is proposed.A testbed is designed and built to conduct collision experiments with the flexible collision detection skin,and the performance of the skin is analyzed.The physical experiment proves that the skin design has high feasibility and reliability.At the same time,the simulation analysis on the inflation and collision process of the flexible skin is carried out by the finite element analysis method,and the simulation verifies the feasibility of the design of the flexible collision detection skin.The simulation results are in high agreement with the physical experimental data,which verifies the reliability of the finite element simulation model.
关键词
碰撞检测/充气仿真/碰撞仿真Key words
collision detection/inflation simulation/collision simulation引用本文复制引用
基金项目
国家自然科学基金面上资助项目(51675054)
北京市自然科学基金资助项目(3172013)
北京市教委科技发展计划面上资助项目(KM201711232005)
出版年
2024
NETL
NSTL
万方数据