Structural Design And Performance Analysis On Fully Pre-Stressed Parallel Six-Component Force Sensor

As one of the key high-techs, sensor technology has been widely applied to the fields of measurement, control and information, with the rapidly development of science and technology. With the ability of measuring the external force and moment vector together, the six-component force/torque sensor is one kind of the most important sensors. It has great significance to develop high performance six-component force sensor which can be used to the special engineering application situations. In this paper, structural design and performance analysis of a novel fully pre-stressed parallel six-component force sensor has been performed. The main contents are as follows:Firstly, the number of limbs of the sensor is derived with the consideration of a rigid body constrained by unilateral force, and the structure of the novel fully pre-stressed six-component force sensor is determined. The theoretical mathematic model of the sensor is built, and the expression of the one order static influence coefficient matrix is deduced.Secondly, the structural parameters are confirmed by the theoretical mathematic model and the given range; The structure of the sensor is designed and analyzed by using 3D visualized modeling and analyzing software, and the important components are optimized by COSMOSWork. the solid model of fully pre-stressed six-component force sensor is made.Thirdly, the dynamics equations of the sensor are studied by using Kane's method, and then the mathematical expressions of natural frequency and mode vector are given with vibration theory.Finally, the dynamic performance of the novel fully pre-stressed sensor is simulated by the software of ADAMS. The natural frequency and mode shapes of the sensor are obtained by dynamic performance simulation and analysis based on rigid-flexible model and spring-limbs model. Additionally, forced vibration analysis of the sensor is simulated using ADAMS/vibration.