一种力力矩传感器的数据采集系统的分析-analysis of a force moment sensor data acquisition system.docx

摘要力传感器是众多传感器中最基本的一种，应用十分广泛，并且在机器人传感器 中尤为普遍。特别是能够同时检测三维力和三维力矩的传感器（即六维力传感器） 在其中扮演着极其重要的角色。多维力传感器的研究历史已有近 50 年的历史了， 因为其重要性，众多科研工作者也在其中投入了大量的精力，但大多都是通过设 计不同的弹性体或是改变电阻应变片的位置等方法来实现和改进多维力传感器。 但是受到贴片工艺以及加工精度等客观条件的制约，最终制作出来的样机几乎都 存在结构复杂、体积偏大、动态响应差等缺点。针对以上诸多不足之处，一种结构相对简单的直接输出型压电式六维力传感器 被研制出来。该传感器有着体积小、质量轻、固有频率高、灵敏度和信噪比高的 特点。并且理论上输出信号无须进行解耦运算。因此该传感器有着十分广阔的应 用前景。但是目前该传感器还停留在实验室阶段，未能投入实际应用。主要原因 是目前传感器输出信号的处理主要依赖 PC 机完成，这存在很大的资源浪费，实际 应用中不甚可取。为了实现该类压电式六维力传感器能投入实际应用中，本文主 要针对该种力传感器设计出了以单片机为核心的后端信号处理系统，从而能够实 现该传感器的便携式与现场测量。本文主要完成了以下几方面的工作：① 介绍了多维力传感器的发展现状。② 分析了压电式六维力传感器的基本原理，以此明确后端信号处理电路的具 体要求。③ 系统的实现方法设计，确定系统的总体工作模式。④ 硬件设计，包括芯片的选型，电路设计。⑤ 软件设计，包括系统工作流程设计，驱动程序设计，以及算法设计。⑥ PCB 版图的绘制，最终装配样机进行试验。 样机在标准信号源输入的情况下，能够实现预先设想的各项功能。关键词：六维力传感器；单片机；硬件设计；软件设计；ABSTRACTForce sensor is a basic type among numerous kinds of sensors. It is widely used, especially in robot sensor. Six-axis force sensor, which is able to detect both three-axis force and three-axis moment, plays an important role in it. It has been 50 years since the start of the research on multi-axis force sensor. Because of its importance, many researchers have put their efforts into it. However, the majority of them chose to design different kinds of elastomers or change the position of resistance strain gage to improve the multi-axis force sensor. But under the constraint of patch technique and machining accuracy, almost all final prototypes have the drawback such as complicated structure, large volume and poor dynamic response.In order to solve these problems, one kind of directly output piezoelectric six-axis force sensor, with a relatively simple structure, has been produced. It has the characteristics of small volume, light weight, high natural frequency, high sensitivity and SNR (signal to noise ratio). Moreover, in theory, the output of signal doesn?t need decouple operation. Thus, this kind of force sensor has a broad prospect, while it is still confined to the laboratory and has not been put into practical use. One of the main