| 摘要 |
The invention relates to a device for sensing and controlling the motion by force, attached to walking robots at the extremities of motion systems with the view of carrying out a safe transportation of technological installations which are transported on rough ground. According to the invention, the device is a hardware and software equipment which has two types of sensors, a two-axis slip one and a force one, ensuring, by means of an integrated micro-controller system, a loop for adjusting the force in order to keep it at admissible values, controlling the slip of the sole which is attached to the legs () of a robot, protected by bellows () and comprises a source () for supplying and distributing pressurized fluid, a proportional pressure regulator (), an electronic module () for setting the reference point, a force regulator () and a controller (). |
