Design Of The Flexible-Joint And Wide Range Parallel Six-Component Force Sensor

The six-component force/torque sensor can detect general force information in the three-dimension space simultaneously, which is an important instrument in the application for force-control and combination control of force and position. On the basis of in-depth and systemic analysis on the researches about 6-axis force sensor at home and abroad, in this paper,the flexible-joint and wide range six-component force sensor has been analyzed and designed,prototype of the sensor and the calibration base are developed, the main contents are as follows:Further study on the isotropic of sensor is done on the basis of previous theoretical analysis, Performance indicators is optimized in accordance with the objective function, and the mathematical model of the sensor is built.A series of prior data is selected to be as basic structure parameters.The stiffness characteristics of different types flexible joints have been analyzed by using FEA software,the structure and parameter of the flexible joint are determined.According to the theoretical, the 3D model of the six-component force sensor is built by UG, the static and dynamic performance have been studied by using the FEA software, the natural frequency is acquired and the prototype of the sensor is also made.On the basic of the loading method, the calibration base is designed.The static and dynamic performance of the calibration base have been studied by using the FEA software, also,the natural frequency is acquired.This paper is of great guiding significance and reference value for further study of the flexible-joint and wide range six-component force sensor.