论文标题
开发气动力传感器原型
Develop of a Pneumatic Force Sensor Prototype
论文作者
论文摘要
应用海军控制的困难之一是实施其三个主要组成部分时存在的复杂性，这必须一个又一个接一个地一起工作。为了促进海上实施力控制，在本文中，开发了气动力传感器。气动力传感器与其他力传感器不同，因为它可以用作力传感器和弹性元件。这些功能通过减少所需组件的数量来促进海上实施力控制。另一方面，气动传感器减少了比例，以促进其在操纵机器人和生物新学假体中的安装。开发气动力传感器的第一步是传感器的数学模型的构建，后来使用MATLAB / SIMULINK软件来模拟它。通过从数学模型的模拟获得的数据，CAD模型和传感器平面是在SolidWorks软件中开发的。随后，基于SolidWorks软件中制定的计划，构建了气动力传感器的原型。一旦完成气动传感器的构建阶段，就根据UNE-EN ISO 376标准进行了力传感器的校准和分类，并进行了实验测试以验证传感器。一旦获得了气动力传感器的分类，将数学模型的仿真结果与实验测试的结果进行了比较。 VI在比较中，可以在获得的结果中显示出图形相干性，从而验证气动力传感器系统。
One of the difficulties of applying a SEA force control is the complexity that exists when implementing its three main components, which must work together one after the other. To facilitate the implementation of a force control by SEA, in this thesis the pneumatic force sensor is developed. A pneumatic force sensor differs from other force sensors in that it can work as a force sensor and as an elastic element. These features facilitate the implementation of force control by SEA, by reducing the number of components required. On the other hand, the pneumatic force sensor has reduced proportions to facilitate its installation in manipulator robots and biomechatronic prostheses. The first step that was made for the development of the pneumatic force sensor was the construction of the mathematical model of the sensor, to later use the MATLAB / Simulink software to simulate it. With the data obtained from the simulation of the mathematical model, the CAD model and the sensor planes were developed in SolidWorks software. Subsequently, the prototype of the pneumatic force sensor was built based on the plans made in the SolidWorks software. Once the stage of construction of the pneumatic force sensor was completed, the calibration and classification of the force sensor was carried out based on the UNE-EN ISO 376 standard, and the experimental tests were carried out to validate the sensor. Once the classification of the pneumatic force sensor was obtained, the results of the simulation of the mathematical model were compared with the results of the experimental test. vi In the comparison, it was possible to show a graphic coherence in the results obtained, validating the pneumatic force sensor system.
