Research On Rigid-flexible Mechanism Three Legs Six-axis Force Sensor

Six dimensional force sensor can simultaneously detect the force and moment fromthree directions, which has been widely used in aerospace, military, engineering, electricsand mechanism, etc. This paper is mainly to analyze and study the theoreticalcharacteristics and experimental features of the newly developed six dimensional forcesensor, and enrich and improve the parallel six dimensional force sensor design theory,which laid the theoretical and experimental basis for the sensor application. The mainresearch contents are as follows.Based on the3-RPS static analysis of mechanism, a static model of rigid-flexiblemechanism of three legs six dimensional force sensor has been established, and accordingto the actual design size, the author got the corresponding relations between the sixdimensional force sensors on the external load applied on the six dimensional forcesensor and six single dimensional force sensors. At the same time, based on decouplingperformance and isotropic property of sensors under the static model, this paper studiedthe sensor load performance.Based on the established static model, this paper carries out an overall analysis ofstiffness in six dimensional force sensor. From single chain firstly, this paper establisheda force transmission stiffness matrix, and then established the corresponding relationbetween six dimensional force sensor external load and the whole deformation, formingwhole stiffness model.With the help of finite element software, the sensors are analyzed from theperspective of static force and stiffness, in order to validate the correctness of establishedstatic theory and the stiffness model.Experiment research has been carried out on the static calibration of the sixdimensional force sensor and some actual characteristics of six dimensional force sensorhas been revealed by experimental data. What is more, according to the experimental data,the static characteristics of sensors have been analyzed. By the comparison betweenactual characteristics and theoretical characteristics of sensors, the correctness of static model theoretically has been proofed. At the same time, two types of errors of the sensorhave been analyzed, main causes of errors have been found out and some measures toreduce errors have been taken. All these have an important reference value for thepractical application of this sensor and provide a fundamental basis for the optimizationlater.This paper further researches on the new six dimensional force sensor prototype,exploring the characteristics of the sensor through the theoretical analysis and calibrationexperiments, which provides important guidance for the later researches and optimizationof the six dimensional force sensor.