中文摘要：

针对与人近距离交互的护理型操作臂的安全性间题,提出并实现了一种基于碰撞检测的安全性设计方法,它根据由动力学模型计算获得的参考输出力矩与力矩传感器测得的实际输出力矩间的偏差实现碰撞检测.在关节力矩传感器设计中,采用有限元分析方法来优化应变片的位置布置,并开发了高抗干扰能力的信号处理电路.根据护理型操作臂的低速特点,提出了一种动力学简化模型,在参考输出力矩的计算效率和精确性之间实现了折中.实验结果表明本设计具有较高的灵敏度和实时性.

英文摘要：

For the safety problem of an assistive robotic manipulator interacting with human in a close range,a safety design method based on collision detection is presented and realized.The collision is detected by the difference of the reference torque calculated according to the manipulator＇s dynamic model and the actual torque measured by torque sensor. In the design of joint torque sensor,the finite element analysis method is applied to optimizing the pasted position of strain gauge,and meanwhile a signal processing circuit with high disturbance-resisting capacity is developed.According to the low speed characteristic of the assistive robotic manipulator,a simplified dynamic model is established to strike a compromise between efficiency and accuracy of the reference torque computation.Experimental results illustrate the higher sensitivity and real-time performance of the proposed design.