面向微细操控的全柔性并联力觉感知方法研究

项目名称： 面向微细操控的全柔性并联力觉感知方法研究

项目编号： No.61203207

项目类型： 青年科学基金项目

立项/批准年度： 2013

项目学科： 自动化学科

项目作者： 梁桥康

作者单位： 湖南大学

项目金额： 24万元

中文摘要： 高精度实时多维微力感知系统是微细操控精密化和柔性化的关键因素之一。目前，传统的多维力觉感知方案由于分辨率、刚度和动态响应性能低等原因难以满足微细操控对高灵敏、高精度和柔性化的要求。本项研究突破传统力觉感知系统结构设计的框架，采用全柔性并联空间几何结构结合先进检测方法和信息处理技术，研究一种高灵敏度、高刚度、各维同性、宽频响的新型全柔性并联多维力觉感知系统；研究利用模糊逻辑、神经网络和支持向量机等人工智能方法，提出适用全柔性并联多维力觉感知系统的智能建模方法；并进一步研究感知系统的标定、解耦、动态补偿、信息融合，设计实时同步获取多维力觉信息的信息获取处理模型，在此基础上建立一套柔性精密操控实验平台进行实验研究。该研究可以满足微细操控对力觉信息感知的迫切需求，并为微电子装配、光纤对接、微细加工、精细外科手术等领域的研究提供新手段，在感知系统建模、多维信号获取、处理与融合方面具有一定的理论价值。

中文关键词： 力信息检测；多维力觉感知；标定和解耦；柔性并联机构；

英文摘要： The high-performance, real-time and multi-component force sensing system is one of the most critical elements to the accurate and flexible micro-manipulation. Currently, traditional multi-component force sensing systems can hardly fulfill the requirements of the high-sensitivity, high-performance, and flexibility raised by the micro-manipulation. To address this challenge, a novel high-performance flexible parallel multi-component force sensing system will be proposed by using monolithic Compliant Parallel Mechanism (CPM), advanced detecting method, and information-processing technology. Then, the intelligent modeling method suitable for the force sensing system will be developed with Artificial Intelligence Methods such as Fuzzy Logic, Neural Network, and Support Vector Machine. Finally, the calibration, de-coupling, dynamic compensation, and information fusion of the system will be explored; after the introduction of information-processing model capable of acquiring multi-component force, an experimental platform for micro-manipulation will be developed. This program could not only fulfill the requirement of the precise and flexible micro-manipulation, but also be able to be applied to the micro electronics assembly, optical fiber connecting, micro parts manufacturing, and delicate surgical operation. It also

英文关键词： Force measurement；multi-axis Force/Moment sensin；calibration and decoupling；compliant parallel mechanism；