Development On Planar Parallel Three-Component Force Sensor With Flexible Joints

At present, the fault of rolling bearing is found late and not easy to detect in the operation. Pointing at this problem, three kinds of three-component force sensor with flexible joints are put forward from the point of real-time online force measurement in this article, which can measure radial load and axial moment of rolling bearing. Through real-time monitoring of bearing axial moment and radial load to judge the operation condition of the working rolling bearing. Thus, the purpose of the bearing fault diagnosis and online real-time monitoring can be achieved.Three kinds planar parallel three-dimension force sensor with flexible joints are put forward in this article, which is suitable for measuring radial load and axial moment of rolling bearing. Structure and measuring principle of the three kinds of planar parallel three-dimensional force sensor are analyzed in this article, at the same time the mathematical model and mapping matrix are built based on screw theory and pseudo-rigid-body model. The performance atlases are plotted by using the theory of space model and the static mapping matrix based on the multi-dimensional force sensor performance index, and influence of structure parameters on the performance of the sensor is analyzed.Based on the stiffness model of flexible serial mechanism and flexible parallel mechanism, the stiffness matrix of flexible planar parallel three-dimensional force sensor is set up. Then, the static mapping matrix of flexible three dimension force sensor is established based on the principle of virtual work and the stiffness matrix of flexible planar parallel three-dimensional force sensor. Finally, the simulation analysis of finite element simulation software is done, from which the error between the simulation value and the theoretical model is got.The structure of 6-PS planar parallel three-dimensional force sensor prototype is designed in detail, including the parts and the assembly method of 6-PS planar parallel three dimension force sensor. The force loading device is clearly designed in this article. The theoretical check calculation and finite element simulation analysis of important parts is also done. The calibration test was made to the 6-PS three dimensional force sensor, and we got the calibration matrix and error matrix for three dimensional force sensor. The 6-PS planar parallel three-dimensional force sensor prototype is developed. The calibration tests on 6-PS three-dimensional force sensor is done, and we get the calibration matrix and three-dimensional force sensor error matrix.This article lay a foundation for force sensor application in rolling bearing fault real-time online diagnosis and monitoring.