The Numerical Calculation And Analysis On Six-force Sensors

This paper introduced and analyzed the theory and experiment of the multi-force sensor. On this groundwork, a six-force model has been designed and its experiment datum has been analyzed. The main work of this paper is to reduce the influences among every force, which is involved in the optimized design of sensor. Being focused by many scientists, Optimized design of six-force sensor structure and its performance are important questions.In this paper, the strain sensitivity, indexes of rigidity property and optimized of sensor has been studied. Also, finite-element method has been used to optimize the place of strain on the sensor.Firstly, a virtual model of six-force sensor has been design by ANSYS software, In this software, the grid of designed elastomer model can be constructed by Finite Element Method, whose principle is that grids are dense on where stress concentrate and grids are sparseness on elsewhere. Then, different direction forces have been added on different places of the model and the value of very force, strain sensitivity and rigidity will be calculated and displayed by colorful picture. The peak can be gotten. Because the point where max stress takes place incline to outside, we try to stick strain gauges on outside of the peak point. By this way, a virtual sample of six-force sensor can be built. Through repeated experiments, the structure and dimension of the six-force elastomer model haven been modified and adjusted. Through repeated changing the place where strain gauges stick on, the six-force sensor has been optimized. Also, the influences on interference coefficient by thickness of spring contact, thickness ratio, structure form have been analyzed. Output coefficient of six forces and thirty interference coefficients have been showed in table form. At last, every indexes of this six-force sensor have been increased through interactive matching.The paper originally confirmed the material of six-force sensor and modeling. The strain, which is small and can be measured by resistance of strain gauges, will take place under different force. At the same time, because the strain gauges being stick on different place will result in different error, the place selection is veryimportant. The conclusion that peak point of stress moved outside can by gotten by ANSYS. So, it is most suitable to sticking strain gauges on outside of the peak point of stress.What is more, the six-force has roundly analyzed and optimized the multi-force design by connecting structure building calculation and strain gauges bridging calculation. This core of research is original, in China.