The Study On The Dynamic Test Incentive Method Of Multi-axis Force Sensor

Six-axis force sensor can be used for measuring the three linear force informations and three three rotational torque informations within the three-dimensional space coordinates.and plays a very important role in the fields of environmental perception and force servo control. Six-axis force sensor’s characteristics including static characteristic and dynamic characteristic, to date, both at home and abroad for its static characteristic research has more thorough, but the research of the dynamic characteristics is not comprehensive enough, most manufacturers even can’t give product’s dynamic performance index. Along with the six-axis force sensor is more and more widely used, the dynamic characteristic has been become an unavoidable problem of science and technology.At present, the defects of six-axis force sensor dynamic characteristics study is mainly manifested in two aspects, one, because the six-axis force sensor’s structure is very complex, and the presence of dimension coupling, so it is difficult to obtain an exact analytical solution;two, lack ideal experimental means,this paper funded by Anhui Province Natural Science Fund Project "study of six-axis force sensor dynamic characteristics experimental (11040606M144)" and the National Natural Science Fund Project "study of the resistance strain type six-axis force sensor dynamic coupling characteristics (51175001)",take the thin sheet six-axis force sensor base on double layer E-type membrane developed by Chinese Academy of Sciences, Hefei Intelligence Institute for object, using elastic mechanics, finite element method, desonce the six-axis (?)crce eemspr (?)amic benavtor,(?) mathematical model,announced its dynamic mechanical behavior from theoretic,preliminary to calculate its dynamic performance parameters;self-made a six-axis force sensor dynamic characteristics test experiment platform drived by piezoelectric, using the harmonic excitation method, along the frequency axis on the multidimensional force sensor point-by-point scanning test, obtained the dynamic characteristics and performance parameters. the main research work about this paper is as follows:(1)Using elastic mechanics and finite element knowledge build the six-axis force sensor dynamic analytic model involved in this thesis,and calculates first-order natural frequency of each directions. (2)Analyzing the sensor dynamic characteristic index by software, which can provide experimental basis for the dynamic mathematics model.(3) Designed and developed six-axis force sensor dynamic characteristic testing tools based on the method of frequency response, which can provide experimental equipment for the sensor frequency domain dynamic characteristic test.(4)Using force sensor dynamic test equipment to test the dynamic characteristics of the sensor, which can provide experimental reference for sensor dynamic modeling.The main innovation points:(1)Established dynamic model for six-axis force sensor base on double layer E-type membrane used widely in industry, which can provide the theoretical basis for in-depth research of the dynamic characteristics and design of structure optimization.(2)Designed and developed six-axis force sensor dynamic characteristics test system based on the frequency response method, not only make up for the previous one based on "pulse response method" and "the step response method" experiment method, and provides experimental basis for six-axis force sensor dynamic characteristics research.