The Research Of The Data Acquisition System Of A Type Of Force/moment Sensor

Force sensor is a basic type among numerous kinds of sensors. It is widely used,especially in robot sensor. Six-axis force sensor, which is able to detect both three-axisforce and three-axis moment, plays an important role in it. It has been50years since thestart of the research on multi-axis force sensor. Because of its importance, manyresearchers have put their efforts into it. However, the majority of them chose to designdifferent kinds of elastomers or change the position of resistance strain gage to improvethe multi-axis force sensor. But under the constraint of patch technique and machiningaccuracy, almost all final prototypes have the drawback such as complicated structure,large volume and poor dynamic response.In order to solve these problems, one kind of directly output piezoelectric six-axisforce sensor, with a relatively simple structure, has been produced. It has thecharacteristics of small volume, light weight, high natural frequency, high sensitivityand SNR (signal to noise ratio). Moreover, in theory, the output of signal doesn’t needdecouple operation. Thus, this kind of force sensor has a broad prospect, while it is stillconfined to the laboratory and has not been put into practical use. One of the mainreasons is that now the main tool to deal with the signal output by this force sensor is pc,which is a huge waste of resources and can’t be applied in practice. So as to put thispiezoelectric six-axis force sensor into practical application, the thesis shows theback-end signal processing system which has single chip microcomputer as its core tomake this kind of force sensor portable and be able to do on-site measurement.This thesis contains the following parts:①The development of multi-axis force sensors②The rationale of piezoelectric six-axis force sensors to elucidate the specificrequirements to deal with back-end signal processing.③The design of the system, ensuring the general work mode of it.④The design of hardware, including the selection of the chip and design of thecircuit.⑤The design of software, including the design of systematic workflow, driveprogram and algorithm.⑥The protraction of PCB layout design and the assembling of prototype toconduct a test. With the input of Standard signal source, the prototype can realize variouspre-conceived functions.