Structural Design And Experimental Study Of Six-axis Force Sensor With Eight Beams

Six-axis force sensors can obtain full force information in space,and have high dynamic and static performance.They play an extremely important role in many fields such as robot operators,docking simulation of space stations,rocket engine thrust testing,and machine tool health monitoring.It has increasingly become the key to automatic detection and control.Strain-type multi-axis force sensors are valued by people for their good static performance,especially in some occasions with special requirements for static performance.Therefore,structural design,analysis and prototype experiments of new strain-type six-axis force sensors were carried out.Studying how to further improve the static performance of the sensor,reduce the difficulty of decoupling and the impact of crosstalk,and reduce the requirements of the sensor on the use environment and installation process are important means to promote the further practical use of the corresponding sensor.The thesis research proposes a "flat-plate eight-beam structure" strain-type six-axis force sensor with eight beams and columns distributed at equal intervals around the same rotation center on the same plane,and conducts research from principle to experiment: analysis of sensor acquisition the principle of six-axis force information;the calculation method of sensor sensitivity is studied;the static performance of the sensor is further analyzed and verified through numerical simulation;the decoupling method of the sensor is studied;the experimental system of sensor static characteristic test is built.The static characteristic test experiment was carried out on the sensor,and the feasibility of the new sensor and the applicability of the test system are verified.The main work of this article includes:(1)"Flat-plate eight beam structure" strain-type six-axisforce sensor structure analysis.The measurement principle of the sensor is analyzed,the static mathematical model of the sensor is established,the calculation method of the equivalent stiffness of the sensor is deduced,and the calculation method of the sensitivity of the sensor is obtained;the numerical simulation analysis of the sensor is performed to obtain its static and dynamic characteristics;The decoupling method of six-axis force sensor is studied,and the least square method in linear decoupling method is analyzed.(2)A static test system for strain-type six-axis force sensors was built.The hardware composition of the static test system is analyzed,the processing and installation process of the strain-type six-axis force sensor are studied,and the related fixtures are designed.The hardware circuit in the static test system of the sensor is designed to convert the strain change of the six-axis force sensor into a voltage change,and then amplify and filter it,and finally convert it into a six-channel analog signal output,which is transferred to the computer by the acquisition device for processing and analysis.(3)A static test experiment was carried out on the designed sensor on the static experiment test system.Based on the experimental data and the decoupling results of the least square method,the static characteristic parameters of the sensor are obtained,which verifies the feasibility of the new type of strain-type six-axis force sensor designed in this thesis.Finally,the source of the error in the static test experimental system is analyzed.The results of the thesis on the structural design,principle analysis and experimental research of the strain-type six-dimensional force sensor have certain reference value for the development of related types of sensors.