The Design And Experiment Research Of Multi-dimensional Force Platform

Due to the coupling of each dimension, heavy-duty Multi-dimensional force sensor isin the state of low accuracy and poor suitability which have limited it in applications ofadvanced areas. In order to eliminate or suppress coupling between the dimensions, cansolve the problem in terms of both the structures of Multi-dimensional force sensor andthe calibration algorithm. Heavy-duty Multi-dimensional force sensor designed in modularstructure can expand its extensive applicability and effectively solve the diversity ofdemand and the coordination of design.Based on the problem of coupling between the dimensions of wide-range andhigh-precision Multi-dimensional force sensor, combined with the characteristics ofparallel mechanism which has compact structure, high stiffness and clear force mappingrelation, this paper develops the design and research of modular multi-dimensional forceplatform to measure multivariate force through the modular structure and to implementrequirement of multi-dimensional force measurement.(1) Based on screw theory, establish the mathematical model of Multi-dimensionalforce sensor which based on parallel mechanism, obtain the force sensor input-outputmapping relation matrix, and according to the parallel mechanism synthetically method,put forward various kinds of3-dimensional to6-dimensional force sensor configurations.(2) Establish the mathematical models of a planar3-RRR three dimensions forcesensor and a space12-PSS four dimensions force sensor, solve their force mappingrelation matrixes; design and optimize the structure parameters of force sensors accordingto their performance indexes.(3) Put forward the structural schemes of1-d to3-d modular load units based on thetheory of modular design; on this basis, determinate the patterns and principles ofcombination of the module load units when building a multi-dimensional force sensor.(4) Research the calibration experiments of the modular four dimensions forceplatform; establish the test system to conduct the calibration experiments of the modularfour dimensional force platform and solve its actual force mapping matrix; analyze and explain the sources of measurement error and the methods of error reduction.The research works in this paper have a certain theoretical reference value andpractical engineering significance on the design of force sensors based on parallelmechanism and the task-oriented modular design of the multi-dimensional force sensors.