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为实现机械手对易碎物品的无损伤抓取 ,要求机械手具有滑觉检测功能。本文设计了一种光电式滑觉传感器 ,它由红外光电器件和一个具有反射镜面的弹性体组成。当物体有相对滑动时会引起反射镜面的振动 ,由此引起光电传感器的输出信号发生变化。对传感器信号进行一定的数学处理 ,就可以判别物体的相对滑动。本文通过实验分析 ,建立了滑动程序判别模型 ,利用这个模型在电液伺服机械手上实现了对鸡蛋等易碎物品的无损伤抓取
In order to realize the robot’s non-destructive grasping of the fragile items, the robot needs the function of sliding detection. In this paper, a photoelectric glide sensor is designed, which consists of an infrared optoelectronic device and an elastic body with a mirror surface. When the object has a relative slide will cause vibration of the mirror surface, thus causing the photoelectric sensor output signal changes. The sensor signal for a certain mathematical treatment, you can determine the relative sliding object. In this paper, through the experimental analysis, established a sliding program discriminant model, the use of this model in the electro-hydraulic servo manipulator to achieve fragile eggs and other fragile items crawl