Structure Design Of Robot's Multidimensional Force Sensor

The work reported in this paper is supported by "Design and Research on Multidimensional sensor of robot under the water" from the intelligent robot sensor technology node laboratory. This paper used finite element method, devotes in enhances the typical multi-dimensional strength sensor various performance and enhanced its measuring range. According to the above object function, this paper has made the structure optimization. The paper main works includes:(1) For static and dynamic analysis finite element analysis, the author has established multi-dimensional force sensor finite element model. The stress distribution patterns for typical load case of elastic body are analyzed in details with finite element menthol and the strain matrix been achieved. In the meantime, natural frequency and normal mode of elastic body are analyzed.(2) The condition number of calibration matrix is an important appraisal index of the multi-dimensional sensor. In view of the current multi-dimensional physical strength sensor universal existence coupling, the author proposed one kind of new sensor structure, solved the coupling problem from the basic structure. The analysis indicated that, this kind of sensor compares the prototype sensor to have the obvious improvement in the coupling aspect.(3) The optimized design is the modern design theory important constituent. The article finally carries on the structure optimization design onto the multi-dimensional force sensor model. The paper respectively taken the first step natural frequency and the maximum stress as the objective function, carries the structure optimization analysis on the multi-dimensional strength sensor, commercial finite element analysis software (such as ANSYS) been used. At the same time, this paper has discussed the sensor Topological Optimization question. In order to enhance the sensor the performance, improves the sensor design and develop new sensor, this work provides the reference for our new multi-dimensional strength sensor development.