Optimization Design And Static-Dynamic Characteristic Study Of Six-axis Force Sensor

A type of six-axis full shearing strain force sensor was designed.The elastic body is a thin cylinder on which four holes are opened evenly in two levels. It is simple, full shearing detected and integrated. The size of the elastic body was designed from the results of finite element method simulation.The model of the sensor was analyzed by finite element method, which assured strain distribution regulation of the elastic body, and gained the line characteristic, and other static characteristic. Former six natural frequencies and mode shapes were obtained by the modal analysis, the amplitude frequency characteristics were gained through the harmonic and transient analysis through which dynamic coupling of sensor were studied.Assured the program of strain gauge paste and bridge in accordance with the strain distribution regulation of the elastic body. Several kinds of strain gauges were introduced. Forty-five degree strain gauges were selected.Static calibration experiments that used standard weights were designed. Nolinearity, sensitivity, and hysterisis error were obtained.Some decoupling methods were introduced in this paper. Two decoupling methods were proposed which called Least square method and BP neural network method. Compared with the results of the two methods, it proved that the method based on BP neural network is better.Figure [87] Table [17] Reference [47]...