一种新型机器人关节位置传感器的研制

为了满足机器人小型化、轻型化的要求,利用磁钢霍尔元件体积小、质量轻和非接触的特点,将其作为机器人关节和电机角度的测量单元,并采取特殊的机械结构,研制了一种新型的关节位置传感器。传感器具有2个测量单元,能够同时测量关节和电机的角度,关节位置测量单元可以用较高精度的电机位置测量单元实现动态标定,标定试验得到传感器精度为±3.08%,重复精度为±1.95%。传感器的2个测量电路安装在同一印刷电路板上,共用电源和A/D电路,具有较高的集成度和可靠性。

Development of novel robot joint position sensor

To lighten and minimize the robot,Alnicos and Hall chips may be used as measuring units of robots' joints position and motors,for they are small,light and non-toughable.A new type of joint position sensor in special mechenic design was thus developed.The sensor has two units.They can measure the angles of the joint and the motor at the same time.Joint measuring unit can achieve dynamic demarcate by using more precise motor measuring unit.A precision of ±3.08% and a repeating precision of ±1.95% are found in the demarcate test.Two measuring circuits are fixed on the same printed circuit board(PCB) and shared one power supply and one A/D circuit.So the sensor is highly integrated and reliable.