Study On Design Principle Of Special Six-component Force Sensors

As a new-type sensor, six-component force sensor can measure the three components of force and the three components of torque, which arises by the development of robot technology. The whole paper aims to study profoundly some key technology of design principle of six- component force sensor system and calibration experiments. And the six-component force sensor system designed for the compound test on the aerodynamic force and inertia force is developed in this paper. The main work is as follows.Firstly, the concepts and principles, characteristics, and engineering applications of six-axis force sensor are summarized systematically. The state-of-art and key technologies about the six- component force sensor are also included. And the theoretical bases of six-component force sensor are studied with the measurement system theory.Secondly, the overall schemes of six- component force sensor in Stewart structure and six-component force sensor in cartridge structure are analyzed after selecting the optimal scheme from six optional schemes of force sensing element. The general design scheme of sensor system in a novel eight-orthogonal-beam structure is present chiefly, and structural design, process, bending the strain gauge, bridge design; measuring principles of the sensor are formulated in detail.Thirdly, decoupling algorithms of multi- component force sensor are investigated profoundly against the problem that the measuring precision of sensor can be confined by the couple interference. The decoupling could be divided into static decoupling and dynamic decoupling. Several effective decoupling strategies and methods are provided in this thesis.Fourthly, six-component force sensor in parallel structure is studied in detail. The analytic solutions of main performance index are derived. Performance ellipsoid characters of main performance index are analyzed.The quantum relations between dimensionless key structural parameters and main performance index are explored after introducing the performance impact influence factors. Two-dimensional performance atlases of main performance index are drawn. And the performance-oriented design strategy is advanced.Force sensing elements and elastic link rods are the key parts of six-component force sensor in cartridge structure. A structural optimization method based on orthogonal test and APDL is introduced in order to optimum design the two parts, the optimum design for force sensing element is implemented adopting the method. And the compliance formulas of the novel flexure hinge are derived. The laws on key structural parameters influencing the compliance performance of novel flexure hinge are studied.Static analysis and modal analysis of novel six-component force sensor are preceded utilizing the finite element simulation software. Least couple is used as objective function to build the mathematics model for structural optimization, and structural sizes optimization are implemented. The laws on the change of structural parameters influencing the natural frequency are analyzed. Study on the dynamic behaviors of novel six-component force sensor is realized, in this way, dynamic responses of system suffered by step or impulse load could be obtained. The dynamic performance indexes are achieved at last.Fifthly, the universal evaluation index architecture model and AHP-FUZZY evaluation model are built, which supply theoretical basis for overall evaluation of six-component force sensor. And the evaluation example on novel sensor system is presented, which indicates the evaluation result is good. Besides, the evaluation index architecture of six-component force sensor in parallel structure is also established.Sixthly, static calibration experiments and quasi-dynamic experiments of novel six-component force sensor are completed in the end. Experiments results illustrate the precision, accuracy; linearity and other performance of sensor are relative perfect, which reach the operating requirements of compound centrifugal test.