杨斌

摘  要： 以快速检测大量仿人机器人关节驱动柔性特征为目标，设计仿人机器人关节驱动柔性特征自动检测系统。系统检测关节特征为关节扭矩，检测模块的轮辐式扭矩传感器与扭矩转速测量仪配合使用，测量关节扭矩大小。PLC控制器从步进电机与扭矩传感器中获取检测信息，向关节驱动器与控制器传输检测命令，实现关节扭矩自动检测。实时控制单元与非实时控制单元构成系统软件，二者以内存共享区域为中介分享检测数据，为检测模块提供软件支持。测试结果显示，系统检测仿人机器人关节扭矩误差低于0.2 N·m，符合仿人机器人关节特征检测标准。

关键词： 仿人机器人; 关节驱动; 系统设计; 关节特征监测; 关节扭矩; 系统测试

中图分类号： TN957.52+3?34; TP242             文献标识码： A                     文章编号： 1004?373X（2020）08?0176?03

Automatic detection system for joint?driving flexible feature of humanoid robot

YANG Bin

（Department of Industrial Automation， Guang Dong Polytechnic College， Zhaoqing 526100， China）

Abstract： The automatic detection system for joint?driving flexible features of humanoid robot is designed with taken rapid detection of a large number of joint?driving flexible features of humanoid robot as target. The joint feature detected by the system is the joint torque， and the hub?and?spoke torque sensor of the system detection module is used together with the torque rotational speed measurer to measure the size of the joint torque. The PLC controller obtains detection information from stepping motor and torque sensor， and transmits detection command to joint driver and controller， so as to realize the automatic detection of joint torque. The real?time control unit and the non?real?time control unit constitute the system software， and both which share the detection data with the memory shared area as the intermediary to provide software support for the detection module. The testing results show that the torque error of humanoid robot′s joint detected by the system is less than 0.2 N·m， which conforms to the detection standard of joint feature of humanoid robot.

Keywords： humanoid robot; joint drive; system design; joint feature detection; joint torque; system test

0  引  言

機器人发展水平是国家科技发展的体现与象征，是智能化领域的延伸。仿人机器人集计算机技术、传感器技术、电子技术与控制技术于一身，兼具人类的四肢与头部，依照人类行为与形态设计行走姿态[1]。机器人关节驱动柔性是仿人设计的突出表现，其在电机驱动下可模仿人类扭转上下肢关节[2?3]。

仿人机器人关节驱动柔性特征较多，如扭矩特征、转角特征、振动特征等[4]，这些特征均能体现机器人关节是否符合生产标准、能否在工作中正常运行[5]。为此，本文以提升仿人机器人关节柔性控制效果与性能为目标，设计自动检测系统检测仿人机器人关节扭矩特征，为保障机器人关节合格率、优化仿人机器人关节柔性提供参考依据。……