Research On The Principle Of Strain-piezoelectric 12-dimensional Sensor

When the robot grabs an object,it needs to adjust the posture of the robot arm and the size of the grasping force according to the contact force information fed back by the six-dimensional force sensor of the wrist.When the six-dimensional force sensor is in the inertial field,the six-dimensional force sensor is affected by both the contact force and the inertial force.The response output mixes the contact force and inertial force information,which makes it impossible to obtain accurate contact force information.To obtain the accurate contact force information that the robot bears,it is necessary to study a twelve-dimensional force/acceleration sensor that can simultaneously measure six-dimensional force and six-dimensional acceleration.In this paper,the strain-piezoelectric twelve-dimensional force acceleration sensor is taken as the research object,and a six-beam strain-type six-dimensional force sensor is integrated with the six-dimensional acceleration sensor developed by the laboratory to realize the twelve-dimensional force acceleration sensor.technology.According to the structural model of the six-dimensional force sensor module,the principle analysis of the six-dimensional force module is carried out,and the strain distribution characteristics of the elastic body are studied;the numerical simulation method of the twelve-dimensional force acceleration sensor based on ANSYS is studied,and the characteristic simulation experiment is completed.The coupling phenomenon of the sensor in the inertial field was studied;a prototype prototype of a twelve-dimensional force acceleration sensor was made,and an experimental system was designed to verify the performance of the sensor prototype.The main work of this article is as follows:(1)Analyze the research status of twelve-dimensional force/acceleration sensors.Starting from the type of sensor conversion element,the twelve-dimensional sensor is divided into two types of strain and piezoelectric;the advantages and disadvantages of the two types of sensors are analyzed separately,and the necessity of studying the new twelve-dimensional sensor is demonstrated,Furthermore,a strain-piezoelectric twelve-dimensional sensor combining the advantages of strain type and piezoelectric type is proposed.(2)Designed a strain-type six-dimensional force sensor with six-beam structure.According to the structure model of the six-dimensional force sensor,the working principle of the six-dimensional force sensor is analyzed,the strain distribution characteristics of the elastic beam of the six-dimensional force module are studied,the data acquisition system of the six-dimensional force module is designed;the six-dimensional force based on ANSYS is established With the numerical model of the six-dimensional acceleration module,the numerical simulation experiment is completed.(3)Completed the characteristics simulation of the twelve-dimensional force/acceleration sensor.The coupling effect between the six-dimensional force and six-dimensional acceleration module is studied,the structural design scheme of the strain-piezoelectric twelve-dimensional force/acceleration sensor is determined,the numerical simulation analysis of the sensor characteristics is carried out,and the overall simulation of the sensor is compared and analyzed Different from the simulation results of sub-modules,the inertial coupling phenomenon of twelve-dimensional sensors in the inertial field is studied.(4)Developed a prototype prototype of twelve-dimensional force/acceleration sensor.Based on the prototype prototype of the 12-dimensional sensor,the sensor calibration and static experiment platform were built.The prototype performance of the12-dimensional sensor was obtained through experiments,and the feasibility of the structural design of the 12-dimensional sensor was verified.The structural design,principle verification experiment and coupled decoupling analysis of the strain-piezoelectric twelve-dimensional force/acceleration sensor aimed at in this paper have high reference value,which can provide a reference for the design of this type of sensor.