Structural Design And Performance Analysis Of 8/4-4 Parallel Six-axis Force Sensor

In aerospace,automation,automotive,and medical fields,six-axis force sensors can accurately get the full force information of the system.Besides,it is an indispensable part of the intelligent factory system,and its application prospect is very broad.This paper will carry out in-depth research on 8/4-4 parallel six-axis force sensor and 8/4-4 split-load parallel six-axis force sensor from mathematical model,performance index analysis and structural optimization design.In order to improve the redundancy fault tolerance,high stiffness and good decoupling performance,an 8/4-4 parallel six-axis force sensor with eight branched chains is proposed.Based on the spiral theory,the mathematical model analysis of the sensor is carried out.Based on the Lagrangian method,the fundamental frequency model of the sensor is derived and verified by ADAMS simulation.The accuracy of the six-axis force sensor is introduced and analyzed.According to the minimum principle of Jacques matrix condition,the force/torque isotropy,force/torque sensitivity and force/torque sensitivity isotropic model of the sensor are established.The comprehensive scoring method is used to establish the comprehensive performance evaluation index of sensitivity.The orthogonal test is used to optimize the structural parameters that have significant influence on each performance index,and performance atlas of each index on the parameters are drawn.From the atlas,the structural parameters can be optimized according to the performance requirements of the sensor.Based on the structure of the sensor,an 8/4-4 split-load parallel six-axis force sensor with a central load-bearing beam added is proposed to increase sensor range with ensuring sensor structure.Based on the principle of load sharing,the mathematical model of the sensor is established.The ADAMS simulation is used to verify and obtain the natural frequency and natural mode of the sensor,which is of guiding significance for determining the operating frequency of the sensor.Through performance atlas,analyze the influence of load-bearing beam parameters on each performance index,such as force/torque isotropy,force/torque sensitivity,and force/torque sensitivity isotropic.The influence of the load-bearing beam radius on the bearing capacity and fundamental frequency of the sensor is laid,which lays a theoretical foundation for the structural design of the central load-bearing beam.