Research On Estimation Method Of Coupling Feature Of Six-Axis Force Sensor

Intelligent robot is the main direction of research and development in robot technology. Six-axis force sensor (6-AFS) is one of the most important sensors which can detect all force information in the three-dimensional space and make robot intelligent. Because of the structure of6-AFS, different channels of6-AFS inevitable exist coupling, including static coupling and dynamic coupling. So far, the problem of static coupling is researched indepth all over the world while the problem of dynamic coupling is researched little. Dynamic decoupling is an inevitable problem along with the high accuracy requirement of6-AFS on the engineering.Now, the main dynamic decoupling method of6-AFS contains mathematical estimation method and experiment method. The application scope of mathematical estimation method is circumscribed because of the lack of accurate dynamic mechanical model. Only little scholars try the experiment method because of the lack of effective means. This article is supported by National Natural Science Foundation of China (Grant No.51175001) and Anhui Provincial Natural Science Foundation (Grant No.11040606M144). To reveal the essence of coupling, this article establishes dynamic mechanical model of the main elastomer by means of the theory of elastic mechanics, vibration mechanics, mechanical vibration, works out dynamic coupling outputs and explores dynamic decoupling method on account of the theory of BSS and ICA. The main research work in this article is as follows,(1)This paper aims at the unfinished problems of dynamic mechanical analysis of elastomer, establishes mechanical model according to the theory of elastic mechanics, calculates dynamic strain outputs by means of boundary conditions and plots simulation figures of dynamic strain outputs.(2)Coupling mapping diagram is plotted on the basis of diagrams which show the location, deformation and stress of resistance strain gauge. Dynamic outputs of different channels is calculated on account of the concept of average strain energy.(3)This paper tries to decouple six dimensional coupling signals by algorithm of FastICA which is on the basis of ICA estimation method of maximation non-gaussian and analyses the error.The main innovation of this paper is,(1) The mechanical model of the main elastomer of6-AFS is established. Novel solution for the problem of forced vibration of annular lamella under asymmetrical dynamic loads and longitudinal vibration of annular lamella is proposed. Dynamic strain outputs is calculated. Accurate analytical model is provided for dynamic decoupling of6-AFS.(2)A novel dynamic decoupling method is explored on the basis of dynamic mechanical model and the BSS and ICA theory. This method provides the theory direction of the final online dynamic decoupling method.