Prototype Development And Performance Analysis On Fully Pre-Stressed Double-Layer Parallel Six-Component Force Sensor

As a new type of six-component force sensor, the fully pre-stressed double-layer six-component force sensor adopts one-way constraint ball-socket cone-head spherical joint instead of traditional two-way constraint spherical joint, which greatly reduces the dimensional coupling, while it adopts fully pre-stressed structure, which is convenient, reliable and to improve the testing precision of the sensor effectively. Therefore, it has the important theoretical and practical significance for study.In this paper , structural design and dynamic performance analysis of the new six-component force sensor have been performed. The main contents are as follows:Firstly, structural characteristic of the six-component force sensor is introduced, the mathematic model is built, and the mathematical expression of force mapping matrix and related important matrix is deduced. The carrying capacity of task-oriented sensor is researched, and structural parameters are determined by the criterion.Secondly, the six-component force sensor is designed and optimized by using 3D visualized modeling and analyzing software, and the sensor prototype is manufactured. In order to prevent the error caused by processing and assembly impacting the sensor precision, the calibration base for this six-component force sensor is designed and manufactured.Finally, modal and flexible dynamic of sensor are simulated by the software of ANSYS Workbench. The natural frequency and mode shapes are obtained by modal simulation ; dynamic performance parameters including natural frequency are obtained by dynamic response curve, and the two analysis results are compared.