The Design Of Detecting Device Of Slip Signals From The Manipulator

With the progress of science and technology, the intelligent manipulator is a leading edge subject in the field of industry, agriculture and medic in present and the intelligent manipulator has become an inevitable trend with the social development. Nowadays the intelligent manipulator research's progress is immaturity in our country, the research results are still difficult to mass adoption, there are many complex problems like the sensor technology and the control technology still unsolved, so it's very important and necessary to research the intelligent manipulator. This thesis mainly aimed at research of the intelligent manipulator grasping technology, and the method of intelligent manipulator's sliding signal and signal processing technology, it makes great contribution to realize the intelligent manipulator crawling technology.1) Firstly,this paper analyzed slippage sensor which commonly used in the current experiments, then selected PVDF piezoelectric sensor?PZT piezoelectric sensor and FSR- 402 piezo resistive sensor as the research objects, compared their advantages and disadvantages, finally choose the excellent performance FSR- 402 piezo resistive sensor as the study slippage sensor.2)Make the further analysis of the slippage sensor, through design a series of experiments, used the A/D converter and the LabVIEW software to gather signal of the tactile and slip signals, then use wavelet Transform to analyze and process signals acquired,through observe the detail coefficients of DWT to select the appropriate threshold value to judge the slippage signals.3) In order to realize manipulator adjust the grab force automatically, we set an initial appropriate gripping force to grab an object at first, then according to the radio of the maximum of the detail coefficients of DWT and the threshold value, adding different grasping force according to different sliding grades, adjusting the gripping force by the means of signal feedback, finally realize grasp flexibly.This paper through select an excellent sensor, and discussed its amplitude-frequency characteristics under the different stress and sliding velocity, and judge whether there exist sliding between the manipulator and the objects. According to the signal's characteristic, then control the force according to the feedback of slide coefficient, thus realize the grasp flexibly, At last it proved this technology can used in industry and agriculture field.