Structure Optimization And Static Calibration Of New Six-axis Force Sensor

Six-axis force sensor with its at the same time all force sensing in three-dimensional space and moment information in mechanical system has gradually become the most important and most widely used in the sensing link,and has become one of the core technology.Six-axis force sensor has very broad application prospect,which is widely used in robotics and computer industry etc..This paper through the agency theory,parameter optimization,structure design and static calibration test on orthogonal parallel Six-axis force sensor and comprehensive analysis,the specific contents are as follows:1)The mathematical model of 6-SPS parallel structure under arbitrary form is deduced,and the force balance relation of force platform is obtained.On this foundation,the establishment of orthogonal parallel Six-axis force sensor mathematical model and equilibrium equation of it,then gets the static first order coefficient matrix analytic expression.2)Two kinds of working condition functions are put forward,and the calculation method of measuring branch range is analyzed respectively.A method of structural parameter optimization based on working condition function is proposed,and the concrete optimization objective and optimization steps are designed.Finally,the orthogonal parallel Six-axis force sensor is optimized to determine the optimal structure parameters and verifies the accuracy of this method.3)The structural design of the orthogonal parallel Six-axis force sensor.The stress distribution nephogram of the sensor is obtained by the finite element analysis method.Verifying whether the designed structure is reasonable.Finally the orthogonal parallel Six-axis force sensor prototype is developed.4)A calibration algorithm based on curve fitting is proposed.Use most stronghold loaded online static loading way of orthogonal parallel Six-axis force sensor static calibration experiment.The curve fitting calibration algorithm is used to analyze the data collected by the test,and the static performance index is compared with the least square method.It is proved that the new calibration algorithm has higher measurement accuracy.