| With the development and innovation of modern industrial technology and modern manufacturing,automated robot has become an important part of industrial field.Whether it is heavy-duty manufacturing equipment or industrial robots and robots commonly used in industry,multidimensional smart operation and real-time force feedback are required in their work to help them achieve proper and proper operation and ensure that this function is correct The core structure of the realization is the six-dimensional force sensor.Highly sensitive six-dimensional force sensor is an important part of the robot arm joint is also an indispensable part of the performance of six-dimensional force sensor directly determines the efficiency of the robot.In this paper,piezoelectric quartz with dynamic measurement performance and force feedback performance is selected as the force sensitive element.Through the modeling and simulation technology and structural design technology,combined with the principle of parallel unloading and the principle of multi-fulcrum measurement,a kind of industrial robot and manipulator Joint part of the spoke-type piezoelectric six-dimensional force sensor,and the performance calibration and optimization.First of all,the measuring principle of three points and the measuring principle of four point and the measuring principle of the five point was analyzed in this paper.The measuring principle and measuring formula of multi pivots are deduced.Based on the principle of multi pivot layout and Combined with four ten font layout and four point square layout to Research and design a new type of eight pivot space layout.Next,in this paper,the measuring principle and measuring formula are presented and the stacked layout of the force sensitive element is analyzed.Based on piezoelectric mechanism and piezoelectric equation,we designed a set of reasonable quartz crystal group assembly program.On the basis of the eight pivot space layout principle,we design scheme of six axis force measurement and measurement formula of a coupling phenomenon.Again,a kind of disc-type piezoelectric six-dimensional force sensor structure was designed in this paper by means of market research and literature retrieval,considering the size of robot and robot arm joint and operating environment,and combining the eight-point supporting space layout scheme.Through the parametric modeling combined with the simulation experiment,the performance index of the structural sensor is obtained.The disc-type piezoelectric six-dimensional force sensor can effectively measure the six-dimensional force,but there are uneven force in the upper and lower cover shells,the mechanical transmission efficiency Lower,too high quality and lack of inherent frequency defects.Based on the principle of light weighting combined with the mechanism of mechanics transfer and the principle of parallel unloading,the structure of the disc-type piezoelectric six-dimensional force sensor is optimized.The mechanical design of the disc is improved and the simulation experiment is carried out.The experimental results show that the mechanical transmission performance of the six-dimensional force sensor of the spoke type has been improved greatly.The upper and lower cover shells have the same force,and the parallel discharge mechanism has good effect and the mechanical transmission efficiency is high.The inherent frequency and sensitivity are also greatly improved.The six-dimensional force sensor of the spoke type adopts the lightweight design,which greatly reduces the weight of the sensor itself,reduces the working energy of the robot and the robot arm after installation,and improves the working efficiency.The six-dimensional force sensor of the spoke is characterized by low energy consumption,high natural frequency and high sensitivity,and high speed measurement and dynamic measurement function.Finally,a parametric modeling of the six-dimensional force sensor of the spoke-type piezoelectric force was maked in this paper,establishes the mechanical model and the parametric solid model,and carries on the six-dimensional force simulation experiment,and carries on the performance test to the eight-point measuring formula And the range of rationalization analysis to calculate the load under different load mechanical transmission efficiency.The experimental results show that the performance parameters of the six-dimensional force sensor are good,and the six-dimensional force measurement can be effectively performed and there is no coupling phenomenon. |
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