Abstract:

In design of multi-axis force sensor used in underwater robot,the problem how to balance hydraulic pressure must be resolved firstly.Through the analyses of the stress and strain of some kinds of typical multi-axis force sensor structure used in robot, which was forced hydraulic pressure,characteristics of these structure and conditions to be applicable were obtained.The solid cylinder could bear hydraulic pressure in deep water,but the opening cylinder was not suitable to be used as elastic body because of the corrosion effect of seawater. The rigid closed thin wall full of oil or air could not bear the hydraulic pressure in deep water and the thin cylindrical structure applied with compensated film can bear the hydraulic pressure only in shallow water.The structure encapsulated with soft sac can bear hydraulic pressure and can be kept in good condition while its volume was changed large enough,but this structure was easy to be broken, also its shape and center of mass were not fixed. An idea to design an adaptive structure of multi-axis force sensor used in underwater robot was presented.The structure has the merits of open structure and closed one.The prototype has been trail-manufactured according to this idea.

Key words: underwater robot, underwater multi-axis force sensor, balance hydraulic pressure, structure design

摘要：

水下机器人用多轴力传感器的设计必须首先解决水压力平衡的问题。通过对几种典型的机器人用多轴力传感器结构在水压作用下的应力、应变进行分析，得到这几种结构的特点和适用条件：实心的柱体可以承受深水压力，但由于海水的腐蚀作用，开放式柱体不适合作为弹性体；充油或充气的刚性封闭的薄壁结构不能承受深水压力；带补偿膜的薄壁圆筒结构只能承受浅水压力的作用；用软外囊封包的结构可以承受深水压力，实现足够大的体积变化而不致被破坏，但存在容易破损以及形状、质心不定的缺陷。提出一种水下机器人用多轴力传感器自适应结构的设计构思，这种结构兼有开放式和封闭式结构的优点。按照这种设计构思已试制出原型样机。

关键词: 水下机器人, 水下多轴力传感器, 压力平衡, 结构设计