Research On Magnetic Characteristics And Force Sensor Output Characteristics Of Fe-Ga And Fe-Co Magnetostrictive Materials

Magnetostrictive material is a new type of functional material.Compared with piezoelectric and piezoresistive materials,it has the advantages of low saturation magnetic field,fast response speed,high magneto-mechanical coupling efficiency,and good environmental adaptability.It can be widely used in military and industrial applications.In recent years,as robots and related technologies have been incorporated into the China Made 2025 plan,the field of robotics has developed rapidly.As a part of the robot's contact with the outside world,sensor technology has broad application prospects.Among the various sensors required for robot perception technology,force sensors are the most widely used,but most of the existing force sensors are unable to adapt to harsh environments.In this paper,sheet-shaped iron gallium and iron-cobalt magnetostrictive materials are used as sensitive components.A new type of force sensor is designed and manufactured by Euler-Bernoulli beam theory and the basic principles of electromagnetics,which can measure 0?2N external force.In order to improve the sensitivity of the sensor,the magnetic characteristics of the core components of the magnetostrictive sensor,sheet iron gallium material and sheet iron cobalt material,were tested first.The effects of magnetostrictive characteristics,hysteresis loops,and external forces on the magnetic flux density were mainly tested.The experimental results show that the flake iron-gallium material and iron-cobalt material have higher magnetic properties.When 0?2N external force is applied,the maximum magnetic flux density of the flake iron-gallium material decreases from 1740.5m T to 1614.2m T,which The maximum magnetic flux density of the flake iron-cobalt material decreased from2375.9m T to 2147m T,which decreased by 228.9m T.It shows that the magnetic flux density of the flake iron gallium material and iron cobalt material has a high sensitivity to external forces.According to the cantilever beam theory and electromagnetic theory,a new type of magnetostrictive force sensor is designed,and the working principle of the force sensor is analyzed.Based on the Hall effect and J-A model,the output voltage model of the magnetostrictive force sensor is derived.The model can describe the relationship between the output voltage of the magnetostrictive force sensor and the applied external force.Using MATLAB software to theoretically calculate the output voltage model of the established magnetostrictive force sensor,it is shown that in the external force range of 0?2N,the output voltage of the iron gallium and iron cobalt force sensors increases with the increase of the applied external force.Finally,a prototype of a magnetostrictive force sensor was fabricated and a test system for the output voltage of the force sensor was built.The output voltages of the iron gallium force sensor and the iron cobalt force sensor were tested to verify the accuracy of the sensor output voltage model.According to the output voltage model of the magnetostrictive force sensor,the influencing factors of the sensor output voltage were studied,and the effects of the bias magnetic field and magnetostriction(?/?_s)and(M_s/?_s^1/2)on the output voltage of the force sensor were analyzed.