Development And Experiment Of A Cardan Type Self-decoupled Wireless And Passive Bending Moment And Torque Sensor

Sensors are a key component of machine humanization and intelligence,the basis of engineering inspection and robot motion control,and an important component of social development and technological progress.Currently,single-dimensional force sensor technology has been developed more mature and is common in the market.However,in special applications such as defense industry,medical and health care,and precision processing,traditional singledimensional force sensors cannot meet the growing demand for technological development due to single detection information,high wiring requirements,limited adaptability,and vulnerability to environmental and other factors.To this end,this paper proposes a gimbal-type mechanical selfdecoupling wireless passive bending and twisting sensor based on magnetostrictive inverse effect,which applies the mechanical structure self-decoupling method to fundamentally eliminate the inter-dimensional coupling problem of multidimensional sensors and improve the sensor design accuracy.Firstly,through the theoretical basis of magnetostrictive materials and magnetostrictive effects,the principle of wireless detection of the mechanical self-decoupling bending and twisting wireless passive sensor proposed in this paper is analyzed,and the mathematical model of the magneto-electric conversion relationship of the sensor is established.The mechanical selfcoupling design requirements are analyzed;the working mode of the bending and torsion sensor is designed,and the design process of the core components of the sensor is elaborated on the basis of the overall structural modeling of the sensor;the mechanical self-coupling principle of the developed sensor is simulated and verified through the static structural analysis module of ANSYS finite element analysis software,and the overall structure of the sensor is adjusted and the dimensional parameters of the main components of the sensor are optimized according to the simulation results;the dimensional parameters of the main components of the sensor are optimized after machining.The main components of the sensor were optimized in terms of dimensional parameters;the prototype of the sensor was machined,assembled and debugged to meet the technical requirements.Secondly,in order to further verify the decoupling performance of the sensor assembly structure from the theoretical level,the internal stress distribution trend of the sensor assembly under static load is determined by using finite element analysis software,and the mechanical model of the structural load of the sensor assembly is established by applying the basic theory of theoretical mechanics and the principle of stiffness difference.On this basis,the decoupling characteristics of the self-decoupled sensor are combined with the mechanical model of the structural load to obtain the mapping matrix of the elastomeric strain of the sensor to the external force,which verifies that the mechanical self-decoupled structure proposed in this paper has the ability to separate and resolve the bending-torsional coupling force.In addition,the influence of internal friction on the decoupling performance of the sensor is explored,and the energy efficiency of the sensor assembly structure is analyzed according to the principle of stiffness difference of the structure to judge its load capacity under different working conditions,which lays the foundation for the future engineering applications of the sensor.Finally,a set of multi-dimensional sensor integrated loading experimental platform is designed and built by ourselves,which is capable of loading multi-dimensional coupling forces on the sensor simultaneously and can test the sensor performance in rotating and liquid environments.In order to comprehensively evaluate the output performance of the sensor,a series of performance verification experiments including static single-dimensional calibration experiments,static coupling loading experiments,dynamic loading experiments,liquid environment loading experiments,and sensor drift and hysteresis experiments were conducted on the platform for the gimbal-type mechanical self-decoupling wireless passive bending and torsion sensor developed in this paper.The experimental results show that the sensor structure developed in this paper is reasonably designed,has the ability to decouple the bending-torsional complex force,has good dynamic detection performance,has small inter-dimensional coupling error,and can work effectively in dynamic state and underwater environment.In addition,the sensor has low hysteresis characteristics,stable signal,and good overall performance.