IN-SITU CALIBRATION FOR LOAD CELLS IN 3D PRINTED BIPEDAL ROBOT USING 3D MODELING IN COMPUTER-AIDED DESIGN ENVIRONMENT

被引：0

作者：

Le, Tung X. ^{[1
]}

Herron, Connor W. ^{[1
]}

Leonessa, Alexander ^{[1
]}

机构：

[1] Virginia Tech, Terr Robot Engn & Controls TREC Lab, Blacksburg, VA 24061 USA

来源：

PROCEEDINGS OF ASME 2023 INTERNATIONAL MECHANICAL ENGINEERING CONGRESS AND EXPOSITION, IMECE2023, VOL 11 | 2023年

关键词：

In-situ calibration; Load cell; CAD environment mechanical simulation; Robotic;

D O I：

暂无

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This paper presents an in-situ calibration for load cells in a bipedal robot. Here the problem is tackled by using mechanical simulation using the 3D Computer-Aid Design (CAD) modeling of the robot. Since mechanical simulation is very high computational power demanding and it needs to be very precise for the calibration, new simplification methods are used for the robot CAD modeling to make the simulation able to run on ordinary personal computers. The results show that the new in-situ calibration method is easy to work with, the force values still meet the requirement for calibration and the computer only needed 10-12 seconds to run for each simulation.

引用

页数：7

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