CN106153235A - The moment online test method of artificial muscle group driven machine person joint - Google Patents

Abstract

The moment online test method of artificial muscle group driven machine person joint, belongs to moment inspecting technical field.It is according to the constant principle of the power triangle relation in mechanics and power power transmission in flexible strand, by using diplopore cantilever parallel girder strain force sensor, by on strain gauge adhesion to stress force sensitive flexible member, when flexible member stress is deformed, foil gauge produces corresponding strain, change into resistance variations, it is reconverted into the change in voltage of measuring circuit, by measuring the numerical value of output voltage, can be in the case of not discharging stay cord tension force, it is held on the appropriate location of stay cord, measure certain numerical value, by certain mathematical operation, it is converted to actual tension and the joint moment of stay cord, device for measuring force can be reduced and seal in artificial muscle group driven machine person joint's system, its simple in construction, convenient test, be suitable to popularization and application.

Description

The moment online test method of artificial muscle group driven machine person joint

Technical field

The invention belongs to moment inspecting technical field, the moment being specifically related to artificial muscle group driven machine person joint is examined online Survey method.

Background technology

Joint of robot is the vitals affecting robot static and dynamic performance.Applicant devises a kind of artificial muscle group and drives Dynamic bionic joint, but there is greatly problem in its first artificial tension force of muscle group draught line and the detection of joint moment.

Summary of the invention

For the above-mentioned problems in the prior art, it is an object of the invention to provide artificial muscle group driven machine people and close The moment online test method of joint.

The moment online test method of described artificial muscle group driven machine person joint, controls Machinery Ministry by controlling part Divided, control part include Control card and the measurement button being arranged on Control card, SR, LCDs and LED lamp, realizes linking and the reading conversion of data of each several part motion by Control card；Mechanical part includes that artificial muscle group drives The moment measuring device of dynamic bionic joint, it is characterised in that described method comprises the steps:

1) artificial muscle group drives the moment measuring device of bionic joint be arranged on artificial muscle group and drive the master of bionic joint Between joint and the first subjoint, the second subjoint, muscle group draught line 06 sequentially passes through bottom rope sheave top, left side, middle rope sheave With on the groove at rope sheave top, right side, under initial condition, the center of left side rope sheave, middle rope sheave and right side rope sheave at straight line or Force transducer, close on straight line, is returned to zero by person, angle α=0 that now muscle group draught line is formed with horizontal level, flesh The tension force of group's draught line is T；

2) pressing measurement button, Single-chip Controlling motor moves, and drives dynamic plate edge by shaft coupling and feed screw nut First guide rail and the second guide rail move downward, and middle rope sheave, testing agency also make relative second under dynamic strip is dynamic to determine plate downward Motion, makes middle rope sheave and left side rope sheave, right side rope sheave stagger certain distance at vertical direction, makes the first artificial muscle group draught line Required power triangle, the folder that muscle group draught line is formed is formed with horizontal level in left side rope sheave, middle rope sheave and right side rope sheave Angle α meets formula:

$tan\mathrm{\α}=\frac{2h}{L}---\left(1\right),$

In formula: L is the distance between left side rope sheave and right side rope sheave, h is the distance that middle rope sheave moves down,

According to the principle that the power triangle relation in mechanics and power power transmission in flexible strand are constant, power and angled relationships meet formula (2):

$sin\mathrm{\α}=\frac{F}{T},T=\frac{1}{sin\mathrm{\α}}F---\left(2\right),$

F is the tension force T component at vertical direction of muscle group draught line,

IfIn substitution formula (1), then there is a formula (3):

$k=\frac{1}{\sin \mathrm{\α}}=\sqrt{\frac{1+{\tan }^2\mathrm{\α}}{{\tan }^2\mathrm{\α}}}=\sqrt{1+\frac{L^2}{4h^2}}---\left(3\right)$

F is recorded by force transducer, and the arm of force of muscle group draught line driven machine person joint is r, then its robot driven closes Joint moment is M=Tr=kFr；

3) whole testing agency applies moment of torsion to force transducer, by gathering the signal of telecommunication of force transducer (54), Jing Guoxin Number process and data change, obtain the muscle group draught line tensile force component F of muscle group draught line；

4) by step 3) the muscle group draught line tensile force component F that records substitutes into step 2) the joint of robot moment of driving In computing formula M=Tr=kFr, it is calculated moment；

5), when motor moves to the end, the power triangle relation needed for formation, LED lamp lights, and moment result is in liquid crystal Show screen display.

The moment online test method of described artificial muscle group driven machine person joint, it is characterised in that described power sensing Device (54) uses diplopore cantilever parallel girder strain force sensor, and its operation principle is: by strain gauge adhesion to stress force sensitive On flexible member, when flexible member stress is deformed, foil gauge produces corresponding strain, changes into resistance variations.Should Change sheet is connected into and is connected into square electric bridge by resistor disc R1, R2, R3 and R4, and each resistance variations that power causes is converted to measure electricity The change in voltage on road, by measuring the numerical value of output voltage, then obtains measured muscle group draught line tensile force component by conversion F, calculates process as follows:

Shown in bridge-type measuring circuit output voltage computing formula such as formula (4):

$U_{DB}=(\frac{R_3}{R_3+R_4}-\frac{R_2}{R_1+R_2})E---\left(4\right)$

Connecing working strain gauge on four arms of electric bridge, be involved in mechanically deform, exist together a temperature field, and temperature impact is mutually Offsetting, voltage output sensitivity is high, when the deformation of member, shown in its output voltage computing formula such as formula (5):

$U_{DB}+{\mathrm{\ΔU}}_{DB}=(\frac{R_3+{\mathrm{\ΔR}}_3}{R_3+{\mathrm{\ΔR}}_3+R_4+{\mathrm{\ΔR}}_4}-\frac{R_2+{\mathrm{\ΔR}}_2}{R_1+{\mathrm{\ΔR}}_1+R_2+{\mathrm{\ΔR}}_2})E---\left(5\right)$

When the material of 4 foil gauges, resistance are the most identical, U_DB=0, Δ U_DBComputing formula such as formula (6):

${\mathrm{\ΔU}}_{DB}=(\frac{R_3+{\mathrm{\ΔR}}_3}{R_3+{\mathrm{\ΔR}}_3+R_4+{\mathrm{\ΔR}}_4}-\frac{R_2+{\mathrm{\ΔR}}_1}{R_1+{\mathrm{\ΔR}}_1+R_2+{\mathrm{\ΔR}}_2})E=\frac{{\mathrm{\ΔR}}_1-{\mathrm{\ΔR}}_2+{\mathrm{\ΔR}}_3-{\mathrm{\ΔR}}_4}{4R}E---\left(6\right)$

I.e.

${\mathrm{\ΔU}}_{DB}=\frac{EK}{4}({\mathrm{\ϵ}}_1-{\mathrm{\ϵ}}_2+{\mathrm{\ϵ}}_3-{\mathrm{\ϵ}}_4)---\left(7\right)$

In formula: K is resistor disc sensitivity coefficient；

ε₁, ε₂, ε₃, ε₄It is respectively the strain value that resistor disc R1, R2, R3 and R4 experience,

F and Δ U_DBLinear, i.e.

$F=\frac{{\mathrm{\ΔU}}_{DB}}{H},$

Wherein H is constant, it and transducer sensitivity, driving voltage, the signal gain of modular converter, passage figure place phase Close.

The moment online test method of described artificial muscle group driven machine person joint, it is characterised in that pass through limit switch The height of regulation arranged on left and right sides rope sheave, treats the measurement of lining rope power adapting to differing heights.

The moment online test method of described artificial muscle group driven machine person joint, it is characterised in that pass through motor Realize being accurately positioned of leading screw slide unit, complete the motion parts of power triangulation.

By using above-mentioned technology, compared with prior art, beneficial effects of the present invention is as follows:

The present invention is by using diplopore cantilever parallel girder strain force sensor, and its operation principle is: by strain gauge adhesion On stress force sensitive flexible member, when flexible member stress is deformed, foil gauge produces corresponding strain, changes into electricity Resistive, the resistance variations that power causes is converted into the change in voltage of measuring circuit, by measuring the numerical value of output voltage, then leads to Crossing the i.e. available measured muscle group draught line tensile force of conversion, then be multiplied by the most available joint moment of the arm of force, it is according in mechanics Power triangle relation and the constant principle of power power transmission in flexible strand, invent the moment of a kind of artificial muscle group driven machine person joint Online test method, in the case of not discharging stay cord tension force, can be held on the appropriate location of stay cord, measure certain number Value, by certain mathematical operation, is converted to actual tension and the joint moment of stay cord, can reduce device for measuring force and seal in artificial muscle Group's driven machine person joint's system, its simple in construction, convenient test, be suitable to popularization and application.

Accompanying drawing explanation

Fig. 1 is the structural representation of the present invention；

Fig. 2 is another structural representation of the present invention；

Fig. 3 is testing agency's structural representation of the present invention；

Fig. 4 is the force transducer fundamental diagram of the present invention；

Fig. 5 is the force transducer bridge-type measuring circuit figure of the present invention；

Fig. 6 is the use state reference map of the present invention；

Fig. 7 is the power triangle relation figure of the present invention；

Fig. 8 is the force cell scheme of installation of the present invention.

In figure: the artificial muscle group of 00-, 01-radiator fan, 02-base, 03-the first subjoint, 04-the second subjoint, 05- Second artificial muscle group draught line, the artificial muscle group draught line of 06-first, 07-joint moment detection device, 08-main joint, 09-master Joint motions arm, 10-base plate, first determines plate, and 12-moves plate, and 13-second determines plate, 14-top board, 15-the first guide rail, and 16-second leads Rail, 20 first usher to seat linear bearing, and 21-second ushers to seat linear bearing, and 22-first ushers to seat rolling bearing, and 23-second ushers to seat rolling Bearing, 30-screw rod, 31-feed screw nut, 32-shaft coupling, 33-motor, rope sheave on the left of 40-, rope sheave in the middle of 41-, 42-is right Side rope sheave, 5-testing agency, 50-riser, 51-the first column, 52-the second column, 53-transverse slat, 54-force transducer.

Detailed description of the invention

Below in conjunction with Figure of description, the invention will be further described, but protection scope of the present invention is not limited in This:

As shown in figures 1-8, the people used by moment online test method of the artificial muscle group driven machine person joint of the present invention Work muscle group drives the moment measuring device of bionic joint, is called for short joint moment detection device 07, is arranged on artificial muscle group and drives imitative Between main joint 08 and first subjoint 03, second subjoint 04 in raw joint, including by the first guide rail 15 and the second guide rail 16 base plates 10 connected, second determine plate 13, first determine plate 11 and top board 14, move plate 12 and pass through first and usher to seat linear bearing 20 and the Two linear bearings 21 of usheing to seat are connected with two guide rails, and feed screw nut 31 is fixedly connected on dynamic plate 12, and screw rod 30 passes sequentially through One usher to seat rolling bearing 22, second usher to seat rolling bearing 23 and shaft coupling 32 is arranged on top board 14, second to determine plate 13 and first fixed On plate 11, the second bearing inner race usheing to seat rolling bearing 23 is provided with the lock-screw that the thread groove with screw rod 30 mates, and second is fixed Plate 13 is connected by lock-screw and thread groove are fixing with screw rod 30；Feed screw nut 31 passes through shaft coupling 32 and is arranged on base plate 10 On motor 33 connect, dynamic plate 12 is provided with testing agency 5, and testing agency 5 top is provided with middle rope sheave 41, and second determines plate 13 are provided with left side rope sheave 40 and right side rope sheave 42, left side rope sheave 40 and right side rope sheave 42 are positioned at the both sides of middle rope sheave 41, and three Individual rope sheave is for installing the first artificial muscle group draught line 06.

As it is shown on figure 3, the testing agency 5 of the present invention includes transverse slat 53, riser 50 and force transducer 54, transverse slat 53 and riser 50 vertically connect, and middle rope sheave 41 is arranged on riser 50 top, and force transducer 54 one end is connected to transverse slat by the first column 51 53 one end, force transducer 54 other end is connected to dynamic plate 12 one end by the second column 52.

The left side rope sheave 40 of the present invention, middle rope sheave 41 and right side rope sheave 42 are the cunning of band chute, rolling bearing and axle Wheel mechanism, the axle that rope sheave passes through fixes, muscle group draught line 06 from the first subjoint 03 out after, sequentially pass through left side rope sheave 40 Chute top, middle rope sheave 41 chute bottom and the chute top of right side rope sheave 42, then around on main joint 8.

As shown in Figure 4 and Figure 5, the force transducer 54 of the present invention uses diplopore cantilever parallel girder strain force sensor, its Operation principle is: by strain gauge adhesion to stress force sensitive flexible member, when flexible member stress is deformed, foil gauge Produce corresponding strain, change into resistance variations.Foil gauge is connected into electric bridge as shown in Figure 4, and the resistance variations that power causes will Be converted to the change in voltage of measuring circuit, by measuring the numerical value of output voltage, then by the i.e. available measured muscle group of conversion Draught line tensile force, then it is multiplied by the most available joint moment of the arm of force.

As shown in Figure 6, the detection of the present invention is to liking by a series of artificial-muscle actuating units through connection in series-parallel combination The artificial muscle group 00 become, artificial muscle group 00 side is provided with radiator fan 01, and artificial muscle group 00 is arranged on base 02 by riser, Artificial muscle group 00 includes two groups of parallel connection, and one group connects the first subjoint 03, and another group connects the second subjoint 04, and two groups of pairs are closed Joint is connected to main joint 08 by the first artificial muscle group draught line 06 and the second artificial muscle group draught line 05 respectively, passes through main joint 08 drives main joint movement arm 09 to move, and uses SMA spring in the embodiment of the present invention, and artificial muscle group 00 is through the first subjoint 03 With the second muscle group draught line the 06, first subjoint 04 and the first muscle group draught line 05, driving main joint 08 to rotate, band movable joint is transported Swing arm 09 moves, and the joint moment of present invention detection device is just being arranged on, between subjoint, complete the online inspection to joint moment Survey work.

As shown in figures 1-8, the moment online test method of the artificial muscle group driven machine person joint of the present invention, it is to pass through Control part to control mechanical part and coordinated, control part include Control card and the measurement that is arranged on Control card by Button, SR, LCDs and LED lamp, realize the linking of each several part motion by Control card and the reading of data turn Changing, measurement button is used for opening setting and measures, and SR is for regulating the height of left and right two rope sheaves, liquid crystal display Screen is used for showing structure, and LED lamp is after the triangle of forces becomes, and bright light is pointed out；Mechanical part includes that artificial muscle group drives bionical pass The moment measuring device of joint, it is characterised in that described method comprises the steps:

1) as shown in figures 1 to 6, artificial muscle group drives the moment measuring device of bionic joint be arranged on artificial muscle group to drive Between main joint 08 and first subjoint 03, second subjoint 04 of bionic joint, muscle group draught line 06 sequentially passes through left side rope Take turns bottom 40 tops, middle rope sheave 41 and on the groove at right side rope sheave 42 top, under initial condition, left side rope sheave 40, middle rope sheave 41 and the center of right side rope sheave 42 at straight line or close on straight line, force transducer 54 is returned to zero, now flesh Angle α=0 that group's draught line 06 is formed with horizontal level, the tension force of muscle group draught line 06 is T；

2) as it is shown in fig. 7, press measurement button, Single-chip Controlling motor 33 moves, by shaft coupling 32 and leading screw Nut 31 drives dynamic plate 12 to move downward along the first guide rail 15 and the second guide rail 16, and middle rope sheave 41, testing agency 5 are at dynamic plate 12 Also make relative second under drive to determine plate 13 and move downward, make middle rope sheave 41 and left side rope sheave 40, right side rope sheave 42 in vertically side To the certain distance that staggers, make the first artificial muscle group draught line 06 shape in left side rope sheave 40, middle rope sheave 41 and right side rope sheave 42 Power triangle needed for one-tenth, the angle α that muscle group draught line 06 and horizontal level are formed meets formula (1):

$tan\mathrm{\α}=\frac{2h}{L}---\left(1\right),$

In formula: L is the distance between left side rope sheave 40 and right side rope sheave 42, h for middle rope sheave (41) move down away from From,

According to the principle that the power triangle relation in mechanics and power power transmission in flexible strand are constant, power and angled relationships meet formula (2):

$sin\mathrm{\α}=\frac{F}{T},T=\frac{1}{sin\mathrm{\α}}F---\left(2\right),$

F is the tension force T component at vertical direction of muscle group draught line 06,

IfIn substitution formula (1), then there is a formula (3):

$k=\frac{1}{\sin \mathrm{\α}}=\sqrt{\frac{1+{\tan }^2\mathrm{\α}}{{\tan }^2\mathrm{\α}}}=\sqrt{1+\frac{L^2}{4h^2}}---\left(3\right)$

F is recorded by force transducer 54, and the arm of force of muscle group draught line driven machine person joint is r, then its robot driven Joint moment is M=Tr=kFr；

3) whole testing agency 5 applies moment of torsion to force transducer 54, by gathering the signal of telecommunication of force transducer 54, Jing Guoxin Number process and data change, obtain the muscle group draught line tensile force component F of muscle group draught line 06；

4) by step 3) the muscle group draught line tensile force component F that records substitutes into step 2) the joint of robot moment of driving In computing formula M=Tr=kFr, it is calculated moment；

5), when motor 33 moves to the end, the power triangle relation needed for formation, LED lamp lights, and moment result is at liquid crystal Display screen display.

As shown in Figure 4, Figure 5, the force transducer 54 of the present invention uses diplopore cantilever parallel girder strain force sensor, its work It is: by strain gauge adhesion to stress force sensitive flexible member, when flexible member stress is deformed that foil gauge produces as principle Raw corresponding strain, changes into resistance variations.Foil gauge is connected into and is connected into square electric bridge by resistance R1, R2, R3 and R4, as Shown in Fig. 5, each resistance variations that power causes is converted to the change in voltage of measuring circuit, by measuring the numerical value of output voltage, Obtain measured muscle group draught line tensile force component F by conversion again, calculate process as follows:

Shown in bridge-type measuring circuit output voltage computing formula such as formula (4):

$U_{DB}=(\frac{R_3}{R_3+R_4}-\frac{R_2}{R_1+R_2})E---\left(4\right)$

Connecing working strain gauge on four arms of electric bridge, be involved in mechanically deform, exist together a temperature field, and temperature impact is mutually Offsetting, voltage output sensitivity is high, when the deformation of member, shown in its output voltage computing formula such as formula (5):

$U_{DB}+{\mathrm{\ΔU}}_{DB}=(\frac{R_3+{\mathrm{\ΔR}}_3}{R_3+{\mathrm{\ΔR}}_3+R_4+{\mathrm{\ΔR}}_4}-\frac{R_2+{\mathrm{\ΔR}}_2}{R_1+{\mathrm{\ΔR}}_1+R_2+{\mathrm{\ΔR}}_2})E---\left(5\right)$

When the material of 4 foil gauges, resistance are the most identical, U_DB=0, Δ U_DBComputing formula such as formula (6):

${\mathrm{\ΔU}}_{DB}=(\frac{R_3+{\mathrm{\ΔR}}_3}{R_3+{\mathrm{\ΔR}}_3+R_4+{\mathrm{\ΔR}}_4}-\frac{R_2+{\mathrm{\ΔR}}_1}{R_1+{\mathrm{\ΔR}}_1+R_2+{\mathrm{\ΔR}}_2})E=\frac{{\mathrm{\ΔR}}_1-{\mathrm{\ΔR}}_2+{\mathrm{\ΔR}}_3-{\mathrm{\ΔR}}_4}{4R}E---\left(6\right)$

I.e.

${\mathrm{\ΔU}}_{DB}=\frac{EK}{4}({\mathrm{\ϵ}}_1-{\mathrm{\ϵ}}_2+{\mathrm{\ϵ}}_3-{\mathrm{\ϵ}}_4)---\left(7\right)$

In formula: K is resistor disc sensitivity coefficient；

ε₁, ε₂, ε₃, ε₄It is respectively the strain value that resistor disc R1, R2, R3 and R4 experience,

As shown in Figure 8, the present invention is installed by cantilever fashion, F and Δ U_DBLinear, i.e.

$F=\frac{{\mathrm{\ΔU}}_{DB}}{H},$

Wherein H is constant, and it is relevant to transducer sensitivity and driving voltage, in the embodiment of the present invention: with the biography of 750gf As a example by the conversion of sensor data, it is described as follows:

Full-span output voltage=driving voltage x sensitivity=4.3v x 1.0mv/v=4.3mv, is equivalent to there is 750g weight When power produces, produce the voltage of 4.3mV.

Owing to the signal of bridge type magnetic sensor output is less, HX711 modules A passage, can be by with 128 times of signal gains 4.3mV voltage amplification 128 times, maximum voltage is 4.3mV x 128=550.4mV.Then sampling output 24bitA/D (simulation Amount/digital quantity) value changed, after AD conversion, the 24bit digital value of output is 550.4mV x 224/4.3V=to the maximum 2147483.Single-chip microcomputer is by specifying sequential by 24bit data read-out.

Assume that power F is x g, the value Δ U measured_DBValue is y.Sensor (750g) exports, and is sent to the electricity of A/D module Pressure is

$\frac{xg\×4.3mV}{750g}=0.00573xmV$

After 128 times of gains it is

128 × 0.00573xmV=0.73387xmV

Being converted to 24bit digital signal is

0.73387xmV×2²⁴÷ 4.3V=2863.3115x

That is,

That is, H=28.6

The present invention is during detection, by the height of limit switch regulation arranged on left and right sides rope sheave, to adapt to differing heights Treat that the measurement of lining rope power, motor 33 realize being accurately positioned of leading screw slide unit, completed the motion portion of power triangulation Point, whole detection process is changed by the reading of linking and data that mcu programming realizes each several part motion.

Claims (4)

1. the moment online test method of artificial muscle group driven machine person joint, completes by controlling part control mechanical part, Control part includes Control card and the measurement button, SR, LCDs and the LED lamp that are arranged on Control card, Linking and the reading conversion of data of each several part motion is realized by Control card；It is bionical that mechanical part includes that artificial muscle group drives The moment measuring device in joint, it is characterised in that described method comprises the steps:

1) artificial muscle group drives the moment measuring device of bionic joint be arranged on artificial muscle group and drive the main joint of bionic joint (08) and between the first subjoint (03), the second subjoint (04), muscle group draught line 06 sequentially pass through rope sheave (40) top, left side, On the groove at middle rope sheave (41) bottom and right side rope sheave (42) top, under initial condition, left side rope sheave (40), middle rope sheave (41) With the center of right side rope sheave (42) at straight line or close on straight line, force transducer (54) is returned to zero, now Angle α=0 that muscle group draught line (06) is formed with horizontal level, the tension force of muscle group draught line (06) is T；

2) pressing measurement button, Single-chip Controlling motor (33) moves, and is carried by shaft coupling (32) and feed screw nut (31) Dynamic plate (12) moves downward along the first guide rail (15) and the second guide rail (16), and middle rope sheave (41), testing agency (5) are at dynamic plate (12) also make relative second under driving determine plate (13) and move downward, make centre rope sheave (41) and left side rope sheave (40), right side rope sheave (42) stagger certain distance at vertical direction, make the first artificial muscle group draught line (06) at left side rope sheave (40), middle rope sheave (41) the power triangle needed for and being formed in right side rope sheave (42), the angle α that muscle group draught line (06) and horizontal level are formed meets Formula (1):

$\tan \mathrm{\α}=\frac{2h}{L}---\left(1\right),$

In formula: L is the distance between left side rope sheave (40) and right side rope sheave (42), h for middle rope sheave (41) move down away from From,

According to the principle that the power triangle relation in mechanics and power power transmission in flexible strand are constant, power and angled relationships meet formula (2):

$sin\mathrm{\α}=\frac{F}{T},T=\frac{1}{sin\mathrm{\α}}F---\left(2\right),$

F is the tension force T component at vertical direction of muscle group draught line (06),

IfIn substitution formula (1), then there is a formula (3):

$k=\frac{1}{\sin \mathrm{\α}}=\sqrt{\frac{1+{\tan }^2\mathrm{\α}}{{\tan }^2\mathrm{\α}}}=\sqrt{1+\frac{L^2}{4h^2}}---\left(3\right)$

F is recorded by force transducer (54), and the arm of force of muscle group draught line driven machine person joint is r, then its robot driven closes Joint moment is M=Tr=kFr；

3) whole testing agency (5) applies moment of torsion to force transducer (54), by gathering the signal of telecommunication of force transducer (54), passes through Signal processing and data conversion, obtain the muscle group draught line tensile force component F of muscle group draught line (06)；

4) by step 3) the muscle group draught line tensile force component F that records substitutes into step 2) the joint of robot Calculating Torque during Rotary of driving In formula M=Tr=kFr, it is calculated moment；

5), when motor (33) moves to the end, the power triangle relation needed for formation, LED lamp lights, and moment result is in liquid crystal Show screen display.

The moment online test method of artificial muscle group driven machine person joint the most according to claim 1, it is characterised in that Described force transducer (54) uses diplopore cantilever parallel girder strain force sensor, and its operation principle is: by strain gauge adhesion On stress force sensitive flexible member, when flexible member stress is deformed, foil gauge produces corresponding strain, changes into electricity Resistive.Foil gauge is connected into and is connected into square electric bridge by resistor disc R1, R2, R3 and R4, each resistance variations that power causes Be converted to the change in voltage of measuring circuit, by measuring the numerical value of output voltage, then obtain the traction of measured muscle group by conversion Line tensile force component F, calculates process as follows:

Shown in bridge-type measuring circuit output voltage computing formula such as formula (4):

$U_{DB}=(\frac{R_3}{R_3+R_4}-\frac{R_2}{R_1+R_2})E---\left(4\right)$

Connecing working strain gauge on four arms of electric bridge, be involved in mechanically deform, exist together a temperature field, and temperature impact is mutually supported Disappearing, voltage output sensitivity is high, when the deformation of member, shown in its output voltage computing formula such as formula (5):

$U_{DB}+{\mathrm{\ΔU}}_{DB}=(\frac{R_3+{\mathrm{\ΔR}}_3}{R_3+{\mathrm{\ΔR}}_3+R_4+{\mathrm{\ΔR}}_4}-\frac{R_2+{\mathrm{\ΔR}}_2}{R_1+{\mathrm{\ΔR}}_1+R_2+{\mathrm{\ΔR}}_2})E---\left(5\right)$

When the material of 4 foil gauges, resistance are the most identical, Δ U_DBComputing formula such as formula (6):

${\mathrm{\ΔU}}_{DB}=(\frac{R_3+{\mathrm{\ΔR}}_3}{R_3+{\mathrm{\ΔR}}_3+R_4+{\mathrm{\ΔR}}_4}-\frac{R_2+{\mathrm{\ΔR}}_1}{R_1+{\mathrm{\ΔR}}_1+R_2+{\mathrm{\ΔR}}_2})E=\frac{{\mathrm{\ΔR}}_1-{\mathrm{\ΔR}}_2+{\mathrm{\ΔR}}_3-{\mathrm{\ΔR}}_4}{4R}E---\left(6\right)$

I.e.

${\mathrm{\ΔU}}_{DB}=\frac{EK}{4}({\mathrm{\ϵ}}_1-{\mathrm{\ϵ}}_2+{\mathrm{\ϵ}}_3-{\mathrm{\ϵ}}_4)---\left(7\right)$

In formula: K is resistor disc sensitivity coefficient；

ε₁, ε₂, ε₃, ε₄It is respectively the strain value that resistor disc R1, R2, R3 and R4 experience,

F and Δ U_DBLinear, i.e.

$F=\frac{{\mathrm{\ΔU}}_{DB}}{H},$

Wherein H is constant, and it is relevant to transducer sensitivity and driving voltage.

The moment online test method of artificial muscle group driven machine person joint the most according to claim 1, it is characterised in that By the height of limit switch regulation arranged on left and right sides rope sheave, treat the measurement of lining rope power adapting to differing heights.

The moment online test method of artificial muscle group driven machine person joint the most according to claim 1, it is characterised in that Realize being accurately positioned of leading screw slide unit by motor (33), complete the motion parts of power triangulation.