Simulation And Experimental Testing Research Of Pre-stressed Double-layer Six-dimensional Force Sensor

As the key perception part of the mechanical system, six-axis force sensor has beenwidely used in aerospace, national defense science and technology, deep-sea exploration,industrial production and other major areas. Because it still has a broad applicationprospect, it attracts much attention. However, performance of the sensor will directlyaffect its practicality. Therefore, to guarantee its good comprehensive performance is thefocus of the research tasks. In this paper, referring to the basic theory and experiment andusing software simulation, a comprehensive study to explore the nonlinear output problemof pre-stressed double-layer six-dimensional force sensor was conducted. The contentsand results are as follows:Based on the nonlinear output problem of the pre-stressed double-layersix-dimensional force sensor that occurred during the experimental calibration process,applying the screw theory, matrix theory and linear algebra theory, depending on themeasurement model of the sensor, we carried out the statically indeterminate forceanalysis on the sensor, static calibration and related experimental testing research. Weanalyzed and derived in stressing characteristics of the sensor under the action of-Mztorque, and also revealed the shortcomings of the sensor’s configuration and structure.From the perspective of sensor detection system, the paper mainly discussed thepossible problems coming from data acquisition system, the mechanical structure of thesensor and the mechanical characteristics. Meanwhile, necessary instructions were givenrespectively by the collected experiment data.According to the proposed problem, this thesis put forward a new virtual prototypesimulation method, which is based on finite element analysis software ANSYS Workbench.Based on the ANSYS Workbench, we conducted validation on the three-dimensional solidmodel, systematic and comprehensively studied the influence of preload, friction and loaddeviation on the sensor static calibration and performance, and analyzed the effect ofdifferent contact conditions on the computational results.By analyzing the shortcomings of the configuration and structure of the sensor, we proposed corresponding ideas to improve the sensor configuration and established itsthree-dimensional solid model. We also use finite element simulation to analyze itsmechanical characteristics under the action of-Mzmoment, and verify the good stressfeature of it.