Design And Simulation Research Of New Six-Dimensional Force Sensor

As an intelligent arm for heavy workpiece handling,assembly and maintenance of heavy equipment,the heavy-duty robotic arm plays an indispensable role in the global industrial field.In the fields of mining metallurgy,aerospace and other fields,it is the core essential equipment for realizing large-load operations,production safety and cost reduction.The heavy-duty robotic arm senses the external environment information and performs rigid-flexible coupling control,which requires the cooperation of many sensors.Among them,the six-dimensional force sensor is one of the most basic and indispensable sensors.However,under heavy-duty operating conditions,many challenges have been raised in the design of six-dimensional force sensors.In this paper,systematic analysis and research are carried out to solve the problems of complex calibration methods,large errors,poor linearity and severe coupling between dimensions in the sensor measurement system.The main research contents are as follows:First,the design and optimization process of the six-dimensional force/torque sensor is introduced.The design and improvement plan of the initial structure of the elastomer are proposed,and finally the new non-planar elastomer structure is determined.Stress analysis,strain analysis and path mapping analysis were carried out on the designed elastic structure to determine the best patch position.Subsequently,the elasticity of the six-bit force/torque sensor was optimized.The response surface numerical analysis method and the finite element analysis method were used to optimize the elastic structure of the six-bit force/torque sensor.Finally,the sensor was designed from top to bottom,completing the entire six Weili/torque sensor assembly design.Secondly,the design process of the six-dimensional force/torque sensor sensing system is introduced.First,the layout design of resistance strain gauges is designed,and 16 strain gauges are arranged on the main beam of the elastomer according to the structure and material characteristics of the elastomer.Then the data acquisition circuit module is designed.According to the pre-calculated amplification factor and the estimated filtering frequency,this paper uses a two-stage amplification method.The amplified voltage signal enters the data acquisition circuit module,and the entire data acquisition and transmission work is completed in the single-chip microcomputer.Finally,using LabVIEW to complete the preparation of the host computer software.Thirdly,the design process of the 6D force/torque sensor calibration platform was introduced,and the calibration table,sensor base,load bar and pulley support frame of the 6D force/torque sensor calibration device were designed respectively.Subsequently,the error of the calibration device of the six-dimensional force/torque sensor is analyzed,The results show that several error factors have negligible influence on the calibration experiment.Finally,two software decoupling schemes are proposed according to the coupling problem between dimensions.On the premise that the six-dimensional force/torque sensor is a linear system,a static decoupling algorithm based on linear mean calibration is used.However,under the assumption that the sensing system is a linear system,the decoupling effect is not ideal.Therefore,the RBF neural network nonlinear algorithm is proposed,and the decoupling performance of the two static decoupling algorithms is compared.The results show that the RBF decoupling algorithm proposed in the nonlinear system is better.