• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Design and Modeling of a Polymer Force Sensor
【24h】

Design and Modeling of a Polymer Force Sensor

机译：高分子力传感器的设计与建模

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

This paper presents the design, modeling, force correction strategies and experimental validation of a force sensor designed for robotized medical applications. The proposed sensor offers a new solution for force measurement in the presence of specific constraints such as medical imaging transparency, limited size, satisfactory rigidity and measurement performance. More specifically, the presented prototype has been purposely adapted to comply with the requirements of needle insertion applications, in the context of interventional radiology. A systematic viscoelastic model identification method is discussed for choosing the best time-dependent model for the force sensor. A novel compensation law is proposed based on the chosen model to correct for the viscoelastic effects of the utilized polymer material. The developed compensation law is inexpensive, stable to noise and can be applied in real-time to the sensor signal. A comparative assessment of the experimental results, obtained from quasi-static to dynamic experiments including harmonic analysis, shows the efficacy of the proposed compensation law, as compared to calibration with static gain and without compensation. The improvement in the sensor response results in decreased hysteresis levels and increased bandwidth, which are improved by more than a factor of 4.
机译：本文介绍了为机器人医疗应用设计的力传感器的设计，建模，力校正策略和实验验证。所提出的传感器在存在诸如医学成像透明度，有限的尺寸，令人满意的刚度和测量性能等特定限制的情况下为力测量提供了一种新的解决方案。更具体地，在介入放射学的背景下，所提出的原型已经被有意地修改为符合针插入应用的要求。讨论了一种系统的粘弹性模型识别方法，用于为力传感器选择最佳的时变模型。根据所选模型，提出了一种新颖的补偿律，以校正所用聚合物材料的粘弹性效应。制定的补偿法则价格便宜，对噪声稳定并且可以实时应用于传感器信号。从准静态实验到包括谐波分析在内的动态实验，对实验结果进行了比较评估，结果表明，与采用静态增益和不采用补偿的校准相比，拟议补偿法的有效性。传感器响应的改善导致滞后水平降低，带宽增加，改善幅度超过4倍。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号