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【求助一篇学位论文】+【截至日期2009年12月31日】
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论文的题目本人也没查到，只知道以下摘要和关键词： 摘 要 在非结构环境中机器人作业操作主要是采用基于传感反馈的力控制和柔顺控制方式，而目前机器人作业时不能获取足够的力传感信息是制约机器人力控制和柔顺控制水平提高的瓶颈之一。六维加速度传感器能够同时检测运动物体的三维线加速度和三维角加速度，为在机器人控制中引入加速度控制以实现真正的全力控制提供基础。 本学位论文研究的背景来源于国家高技术研究发展计划(863计划)项目“十二自由度力传感器及其应用基础研究”(2001AA423180)。论文的工作主要是对E膜片六轴加速度传感器静、动态特性有关问题进行深入地探讨与研究，包括六轴加速度传感器弹性体的应力应变与加速度载荷、弹性体结构尺寸关系的分析；维间耦合特性与维间耦合消除方法的分析与研究；标定方法和动力学特性分析与研究；以及六轴加速度传感器的应用研究等。在上述研究中，我们对六轴加速度传感器弹性体的应力应变特性有了较全面认识，研究成果可为六轴加速度传感器结构设计及相似形状结构弹性体的力学性能分析提供参考；对六轴加速度传感器相关特性的分析、建模与仿真实验研究，是对当前传感器测量理论与技术的一个补充；对六轴加速度传感器动态特性分析和动态维间耦合等特征的描述，为将其应用于机器人力控制和柔顺控制及后续相关研究提供了一个新的思路。另外，对六轴加速度传感器在人体运动/姿态检测方面应用的探讨性研究,为将来六轴加速度传感器应用于体育和人体健康监测领域奠定一定的基础。 由于目前在国内外尚未见到有类似的六轴加速度传感器产品及类似研究的报道，所以在上述研究中，我们通过艰难的分析与探索、尝试将成功应用于一般多维力传感器的分析方法应用于六轴加速度传感器，并提出一些新的方法，获得了一些有意义的结果，这些方法和成果包括：通过在传感器坐标系中沿各轴向施加恒定线/角加速度载荷，实现了对弹性体受力与边界条件的等效与简化分析；借助于圆薄板轴对称/反轴对称变形、有关矩形薄板弯曲与反对称变形弹性曲面微分方程通解形式，获得弹性体应力应变解析解、应力应变大小与弹性体结构尺寸间的关系；通过建立三维的有限元分析模型、加载及分析，获得弹性体变形特征与相关应力应变分布；提出一种以传感器直角坐标系为参考坐标系、采用施加6个相互线性独立的加速度向量，实现对六轴加速度传感器标定和获取其特征矩阵的方法；采用结构动力学有限元分析理论与方法，对六轴加速度传感器分析模型的固有振动频率、振型、振动频率与结构尺寸大小间的关系进行分析，并尝试着对传感器谐响应、瞬态响应、动态维间耦合特性进行了分析与研究；提出了一种六轴加速度传感器与机器人间实现相互校准的方法；对六轴加速度传感器应用于运动位置姿态检测的可行性进行了理论分析与探讨等。 本项研究虽然以E膜片六轴加速度传感器为研究对象，但研究的方法与内容对其它结构类型的多维加速度传感器同样有重要的参考价值。 关键词：六轴加速度传感器 静态特性 动态特性 标定 维间耦合 Abstract Sensing feedback based force and compliance control is mainly adopted by robot manipulation in unstructured environment. However, the control level has bottlenecked since it’s incapable to obtain enough force information at present. On the other hand, the six-axis accelerometer can simultaneously measure all three linear acceleration and three angular acceleration of a moving object. With this accelerometer used in the robot manipulation, the acceleration control could guarantee the full-force control. On the background of 863 program (Hi-Tech Research and Development Program of China), "Research on a kind of 12-degree of freedom force sensor and its application” (No.2001AA423180), this paper deals with the static and dynamic characteristics of E-type membrane six-axis accelerometer, including the analysis of the relationship between stress-strain of the elastic body of sensor and measured acceleration and its dimension, the study on characteristics of dimension coupling and methods of decoupling, the discussion of calibrate ways and dynamic characteristics of the sensor, and the application of the sensor, etc. These observations tell us the stress-strain characteristic of the elastic body, and provide reference to the sensor structure design and the analysis of similar shape elastic body. Meanwhile, the study of analyzing, modeling and simulation is a supplement to the measurement technique. And the description of the sensor dynamic character and dimension coupling puts a new concept for its being used in force and compliance control, and further correlative research. Moreover, the investigation of the sensor application in position and pose measurement is to lay the foundation for its being used in sports and health monitoring. On account of no similar product and report on this kind of six-axis accelerometers at present, we try to introduce the method, which being well applied to analyzing multidimensional force sensors, into above-mentioned research through difficult analysis and exploration. In this process, some new research methods are studied out and research results are obtained, which are shown as follows: A kind of equivalent and simplified analysis of the elastic body is achieved, which loads invariable axes linear/angular acceleration. The analytical solutions of the stress-strain and the relation between the stress-strain and the elastic body dimension are obtained from the elastic surface differential equations about the axisymmetric or non-axisymmetric deformation of thin circular plate and thin rectangular plate. The distortion and the relevant stress-strain distribution of the elastic body are obtained with constructing and calculating a tri-dimension FEA(finite element analysis) model. A method to calibrate the six-axis accelerometer is presented, which takes the sensor rectangular coordinate system as the reference frame and loads six linear independent acceleration vectors in the sensor system. The structural dynamic FEA method is introduced to study the natural vibration frequency and modes of vibration of the selected model, the relationships of the frequency and the dimension of the model, the harmonic and transient response performance and the dimension coupling. A method for six-axis accelerometer and robot to calibrate each other is also presented. The probability of the six-axis accelerometer used in measuring position and pose is discussed theoretically. Although this research focuses on the study of the E-type membrane six-axis accelerometer, the method and content will be of great value to other kinds of multi-dimension accelerometers. Keywords: six-axis accelerometer, static characteristic, dynamic characteristic, calibration. 查到的朋友请回帖，并把论文发送到mail： yczvicky@sina.com |
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lovehappy2008
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yczvicky(金币+1,VIP+0):感谢及时把我需要的论文发送到我的邮箱，此篇论文对我意义重大，谢谢你及时的帮助！
yczvicky(金币+14,VIP+0):不好意思设置好。
yczvicky(金币+1,VIP+0):感谢及时把我需要的论文发送到我的邮箱，此篇论文对我意义重大，谢谢你及时的帮助！
yczvicky(金币+14,VIP+0):不好意思设置好。
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ok Y819878.pdf ps:楼主要是下不下来，我再发你邮箱，懒得用邮箱了  [ Last edited by lovehappy2008 on 2008-12-26 at 15:17 ] |
2楼2008-12-26 15:16:19
3楼2008-12-29 13:20:22
lovehappy2008
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4楼2008-12-29 13:54:35
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