The Design And Development Of Parallel Three-dimensional Force Sensor With Mechanical Decoupling

Multi-dimensional force sensor can be used to detect space force information, and has important applications in wind tunnel tests, robotic assembly, landing gear load testing, spacecraft docking and other fields. Two kinds of parallel three-dimensional force sensor with mechanical decoupling is proposed. The measurement model is established, and the structure design of the two kinds of three-dimensional forces is carried out. Based on the finite element software for both the parallel three-dimensional force sensor is analyzed. Finally, we set up a static calibration test system parallel three-dimensional force sensor and carried out static calibration experiment of the parallel three-dimensional force sensor. The main contents are as follows:Firstly, Based on the rolling measurement principle of steel ball, new configuration of two kinds of parallel three-dimensional force sensor with mechanical decoupling is proposed. Ideal static mapping of two kinds of three-dimensional force sensor with mechanical decoupling is derived. Then the measurement principle of a single steel ball is analyzed. Base on the measurement principle the measurement model of parallel three-dimensional force sensor with considering rolling friction is derived. Finally, the integrated measurement model of parallel three-dimensional force sensor with mechanical decoupling is derived taking consideration of the sensor preload and rolling friction.Secondly, the measurement performance of parallel three-dimensional force sensor is analyzed. Based on the new configuration of parallel three-dimensional force sensor with mechanical decoupling, the prototype and versatile calibration device of static is designed. The finite element software is used for checking the strength of key components. Finally, the finite element software is used for calibration of static and modal analysis.Finally, the proposed of parallel three-dimensional force sensor prototype is manufactured. The data acquisition system acquisition program and the static calibration test system is set up. Explores the influence of the different preload to measurement accuracy of three-dimensional parallel force sensor with mechanical decoupling. Based on least squares method for processing the experimental data of different preload obtained error matrix and calibration matrix of sensor and the factors of parallel three-dimensional force sensor with mechanical decoupling calibration error is analyzed.