Research On Decoupling Performance Of Parallel Six-dimensional Force Sensor

With the progress of the times,intelligent robots are also constantly developing,and the important role of sensor technology in the development of this field and the promotion of social progress is very obvious.A series of research and technical application problems caused by sensing technology have received widespread attention from international scholars.The paper proposes a parallel six-dimensional force sensor,which has made in-depth analysis and research on coupling analysis,calibration test and decoupling of independent component analysis methods.The specific research work includes:1)The force balance relationship between the force applied by the force platform and the force measurement branch was derived and obtained.The basic knowledge of independent component analysis was systematically summarized,the process of independent component analysis is analyzed,and its model equations are derived.2)Determined the structural model of this parallel six-dimensional force sensor.The ANSYS was used to analyze the coupling condition of the sensor.The stress and strain distribution of the sensor was obtained by this software and the coupling was obtained.3)Based on the static calibration test of the prototype of the sensor,the test data was processed and analyzed,and finally the calibration matrix of the prototype was obtained,and the subsequent decoupling analysis could be prepared.4)The parallel decoupling analysis of the parallel six-dimensional force sensor was performed.The coupling between the matrix obtained by decoupling independent component analysis and the traditional static decoupling method was compared to prove the feasibility of the ICA-based decoupling method.5)The dynamic decoupling analysis of the parallel six-dimensional force sensor was performed.The decoupling of independent component analysis was compared with the traditional decoupling waveforms,which showed that independent component analysis could be applied to the dynamic decoupling of parallel six-dimensional force sensors.Fig.72;Table 1;Reference 78...