With the rapid development of mechatronics and robotics technology, the application of robots has been extended from the industrial field to daily life and has become an indispensable part of work and daily life. The accuracy and flexibility of the operator determine the operating efficiency of the robot. Although the level of development of the operator is constantly improving, the traditional operator has a simple structure and generally adopts parallel movement or tightening. The holding structure has poor flexibility and stability, making it difficult to achieve precise position capture and control and cannot meet the requirements of delicate tasks. In this paper, a basic force analysis of the manipulator is carried out, and the change trend of the force and driving force of each joint when the manipulator is grasping objects is obtained, so as to determine that the manipulator can grasp the object stably; then, in the strength analysis of the manipulator, it is determined that the material meets the strength requirements. This paper conducts an output voltage experiment on the static performance and coupling error of the mechanical arm wrist force sensor. Secondly, in order to study the influence of the temperature change in the space environment on the zero-point output of the mechanical arm sensor, a high and low temperature test box are used to simulate the temperature brought by the temperature change to the sensor. Experiments show that the maximum coupling error of the sensor is 1.81%, which is less than 2% of the design index. This indicates that the operator sensor is used to detect the force and torque that the space operator’s edge operator experiences when it interacts with the external environment and provides the necessary power sensing information for power control and compatible operator motion control, completing some complex; the Fine project is an important prerequisite for realizing the intelligence of space operators.

中文翻译：

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基于AI的重力补偿算法及机械臂腕力载荷端的仿真。

随着机电一体化和机器人技术的飞速发展，机器人的应用已从工业领域扩展到日常生活中，已成为工作和日常生活中不可或缺的一部分。操作员的准确性和灵活性决定了机器人的工作效率。尽管操作员的发展水平在不断提高，但是传统的操作员具有简单的结构并且通常采用平行运动或紧固。保持结构的柔性和稳定性差，使得难以实现精确的位置捕获和控制并且不能满足精细任务的要求。本文对机械手进行了基本的力分析，得出了机械手抓取物体时各关节的力和驱动力的变化趋势，从而确定机械手能够稳定地抓持物体；然后，在机械手的强度分析中，确定材料满足强度要求。本文对机械臂腕力传感器的静态性能和耦合误差进行了输出电压实验。其次，为了研究空间环境中的温度变化对机械臂传感器零点输出的影响，使用了一个高低温测试箱来模拟温度变化给传感器带来的温度。实验表明，传感器的最大耦合误差为1.81％，小于设计指标的2％。这表明操作员传感器用于检测空间操作员的边缘操作员与外部环境交互时所经历的力和扭矩，并为功率控制和兼容的操作员运动控制提供必要的功率传感信息，从而完成一些复杂的工作；精细项目是实现太空运营商情报的重要先决条件。