并联式轴用压电六维力/力矩传感器

针对巨型重载操作装备极端制造中多维大载荷测量的难题,提出一种利用压电石英作为力敏元件的新型并联式轴用压电六维力/力矩传感器。对比各种力敏元件的性能,选择压电石英作为力敏元件可以实现空间力/力矩的动态测量,分析压电石英晶组不同空间布局方式的测量原理,提出并联式轴用压电六维力/力矩传感器的多点测量原理,分别对其建立空间力学模型,并进行解耦计算。设计出高灵敏度、高刚度、高线性度的非组装整体化六维力/力矩传感器新结构。研究并联式轴用压电六维力/力矩传感器的标定方法,并进行静态和动态标定试验,得到六维力/力矩传感器的标定矩阵和误差矩阵。试验表明,该六维力/力矩传感器可以动态测量空间六维力/力矩,具有量程大、线性好、固有频率高、动态性能好和应用场合多等优点。     

平板式压电六维力传感器静态性能研究

针对弹性体式六维力传感器存在的瓶颈矛盾,提出一种非弹性体式平板式压电六维力传感器。目前研究这类六维力传感器的静态性能主要是试验标定法和数字仿真法,这两种方法无法找到传感器结构参数与传感器性能之间的数学关系,也就无法全面实现基于静态特性的结构参数设计。从研究这类传感器的灵敏度特性出发,分析传感器的测量原理,推导传感器的等效结构模型;提出基于灵敏度特性的静态数学解析模型,建立这类传感器的数值模型;结合传感器的数学解析模型和数值模型研制传感器试验原型并开展静态标定试验,测试灵敏度、各向同性度、维间耦合、线性度、重复性等静态特性参数。试验结果证明:平板式压电六维力传感器工作原理正确,解析数学模型和数字模型有效,研究结论为全面设计和研究这类多维力传感器的静态特性奠定了基础。     

预紧式Stewart结构六维力/力矩传感器

针对六维力/力矩传感器测量量程受限问题,提出一种具有分载测量功能的预紧式Stewart结构六维力/力矩传感器.首先,对比传统Stewart结构力/力矩传感器,阐述了预紧式六维力/力矩传感器的结构特点和测量原理.然后,完成了预紧式Stewart结构六维力/力矩传感器的结构设计.建立了传感器的有限元模型,对模型进行了模态分...     

集成化微型六维力/力矩传感器的研制

弹性敏感元件是应变式多维力传感器的核心,弹性体机械加工和应变片粘贴的误差成为影响微型多维力传感器测量精度的重要因素。为此设计由一体化结构的弹性体和单片组合式应变片组成的新型弹性敏感元件,弹性体结构简单,机械加工和应变片粘贴精度高。基于DSP的传感器信号处理和智能化电路放置在传感器本体内部,使传感器具有集成化、智能化和微型化的特点。     

Y形横梁六维力/力矩传感器的应变分析

设计电阻应变式六维力/力矩传感器的前提是预知其弹性结构的应变分布,而传统的基于几何建模的有限元分析设计方法存在耗时长、效率低等问题。针对Y形横梁六维力/力矩传感器的弹性结构,提出一种高效、精确的解析分析方法。详细考察了该六维力/力矩传感器弹性横梁在各轴力/力矩载荷作用下的变形特征,基于铁木辛柯梁理论建立简化的力学模型,从而解析地得到各轴力/力矩载荷作用下弹性横梁中应变的显式表达式,与有限元模拟进行对比。结果表明:解析模型给出的预测结果与有限元数值解基本吻合,说明了该解析模型的正确性和有效性,从而为Y形横梁六维力/力矩传感器的设计提供了高效、精确的解析手段。     

电容式六维力与力矩传感器数据采集系统设计

为实现电容式六维力与力矩传感器测量力与力矩信息的实时采集和显示,针对实验室自主研制的电容式六维力与力矩传感器开发了一套数据采集系统。系统以STM32F103C8T6作为主控芯片,电容信号经AD7147采集并转换为数字信号,转换结果经隔离型SPI通讯传输到主控芯片后,主控芯片通过基于Modbus协议的RS485通讯发送给上位机。上位机采用WinForm界面进行设计,能对数据进行进一步标定计算处理,并最终实现所测量力与力矩值的实时显示与保存。经过实验测试,采集系统的测量值和实际加载的力与力矩值的测量误差低于3%。该系统的采样精度高、开发成本低且上位机功能完善,为电容式六维力与力矩传感器的应用研究提供了重要的信息。     

基于Stewart构型的六维力/力矩传感器刚柔度性能研究

刚柔度是传感器的基本特性,是在工作空间中定量衡量其性能与结构参数间关系的重要指标.应用并联机器人机构学理论,对基于Stewart结构六维力传感器的性能指标进行理论推导,定义并分析了其刚度和柔度性能指标,为六维力传感器的优化设计和工程应用提供理论基础.     

全数字输出的集成式微型六维力/力矩传感器

研究了一种新型的集成式微型六维力／力矩传感器,该传感器将机械本体、信号处理电路和数字化电路融为一体,具有微型化、集成化、低功耗和全数字输出等特点。     

并联结构力传感器力矩各向同性研究

六维力传感器可以同时测量空间六维广义力,已成为机器人研究领域的重点之一。文中研究的是一种新型、适用于机器人手腕和指尖的Stewart结构的六维力传感器,分析其力矩各向同性指标,得到力矩各向同性的具体解析表达式,同时对力矩各向同性进行了图谱分析,并研究了坐标系变化对力矩各向同性指标的影响,为该六维力传感器的结构设计奠定了理论基础,其研究结果具有理论和实用价值。     

Stewart型六维力传感器弹性体结构的设计

对六维力/力矩传感器弹性体结构进行了分析;提出了基于Stewart平台的球铰接分体式弹性体的设计方案;根据力的叠加原理对传感器分别施加单轴力,分析得到最大受力杆;并利用Matlab软件分析计算系数转换矩阵,得到施加的力与六维力之间的转换方程;调整上下平台夹角α、β及杆长L等参数,对传感器结构参数进行优化设计,得到设计数据表;为Stewart六维力传感器结构参数的选择及优化提供了参考依据。     

压电式轴上六维力传感器的研制

本文对现有的六维力传感器及其力敏元件进行分析和研究,研制了一种能准确测量轴上空间六维力的新型四支点压电石英并联式轴上六维力传感器.选择压电石英作为四支点六维力传感器的力敏元件,提出了两种不同的力敏元件空间布置方式,对其建立了数学模型和解耦计算,得到作用在轴上的空间六维力.分析了压电石英传感器测量轴上六维力产生偏差的原因,通过实验进行了验证,确定出压电石英六维力传感器的力敏元件相对合理的布置方式,为轴上六维力测量提供了参考依据.     

Research on parallel load sharing principle of piezoelectric six-dimensional heavy force/torque sensor

In working process of huge heavy-load manipulators, such as the free forging machine, hydraulic die-forging press, forging manipulator, heavy grasping manipulator, large displacement manipulator, measurement of six-dimensional heavy force/torque and real-time force feedback of the operation interface are basis to realize coordinate operation control and force compliance control. It is also an effective way to raise the control accuracy and achieve highly efficient manufacturing. Facing to solve dynamic measurement problem on six-dimensional time-varying heavy load in extremely manufacturing process, the novel principle of parallel load sharing on six-dimensional heavy force/torque is put forward. The measuring principle of six-dimensional force sensor is analyzed, and the spatial model is built and decoupled. The load sharing ratios are analyzed and calculated in vertical and horizontal directions. The mapping relationship between six-dimensional heavy force/torque value to be measured and output force value is built. The finite element model of parallel piezoelectric six-dimensional heavy force/torque sensor is set up, and its static characteristics are analyzed by ANSYS software. The main parameters, which affect load sharing ratio, are analyzed. The experiments for load sharing with different diameters of parallel axis are designed. The results show that the six-dimensional heavy force/torque sensor has good linearity. Non-linearity errors are less than 1%. The parallel axis makes good effect of load sharing. The larger the diameter is, the better the load sharing effect is. The results of experiments are in accordance with the FEM analysis. The sensor has advantages of large measuring range, good linearity, high inherent frequency, and high rigidity. It can be widely used in extreme environments for real-time accurate measurement of six-dimensional time-varying huge loads on manipulators.     

过约束平面并联三维力/力矩传感器的研制

针对轴承的故障早期诊断和在线实时监测,提出了一种新型过约束平面并联三维力/力矩传感器。通过采用分支轴线均不过传感器中心的6条对称分布的测力分支,该传感器可同时测量轴承径向载荷和轴向力矩。根据静力学平衡方程,求解了其测量数学模型;基于传感器测量模型与性能指标分析了传感器性能,进而对其各结构参数进行优化设计。研制了传感器样机及其加载标定实验系统,开展了加载标定实验,得到了该传感器的测量精度。标定实验结果显示:传感器径向力测量精度为2.56%,力矩测量精度为0.92%,Ⅰ类误差为2.56%,最大Ⅱ类误差为2.29%。文中所做工作,为将该新型过约束平面并联三维力/力矩传感器应用于在线实时测量轴承径向载荷和轴向摩擦力矩奠定了基础。     

Optimal design and experiment research of a fully pre-stressed six-axis force/torque sensor

This paper presents the design and experiment of a fully pre-stressed six-axis force/torque sensor with double layers. The structure characteristic of the fully pre-stressed six-axis force/torque sensor is introduced in comparison with the traditional Stewart platform-based force sensor. In order to meet the expected task requirements, an optimal design approach based on the given measurement range of the sensor is proposed with the aim of minimizing the forces of the measuring limbs overall. Considering the optimization objective, the optimal solutions of the structural parameters are obtained. Finally, the sensor prototype is manufactured and the calibration system is developed. The calibration experiment is performed and the results prove the superiority of the sensor structure and the validity of the optimal design method.     

Research on force-sensing element's spatial arrangement of piezoelectric six-component force/torque sensor

This paper proposes a novel piezoelectric six-component force/torque sensor with four-point supporting structure, and makes research on force-sensing element's spatial arrangement of the novel sensor. Two kinds of different spatial arrangements are advanced, lozenge and square arrangement. The mathematical models are built and calculated. The influence on using performance of the two kinds of different spatial arrangements of the sensor is analyzed by FEM (ANSYS software). In order to investigate the validity of the proposed method, a prototype of piezoelectric six-component force/moment sensor is developed with two kinds of different spatial arrangements, and characteristic tests of the piezoelectric six-component force/moment sensor are performed. The test shows that both of the different spatial arrangement sensors could be used to measure six-component force/torque, but the square arrangement piezoelectric six-component force/moment sensor is more suitable for measurement of six-component force/torque on axis. The interference errors of square arrangement sensor are less than 5%, which are lower than those of the lozenge arrangement sensor. The natural frequencies in six directions are analyzed and discussed.     

A novel parallel sensor with six rigid compliant limbs for measuring six- component force/torque

A novel parallel sensor with six rigid/compliant hybrid limbs and six standard force sensors is developed for measuring the six-component force/torque. The measuring theory and performances are studied. A prototype of the robot hybrid hands with the parallel sensor is developed. A prototype of the parallel sensor is built up and its merits and performances are analyzed. A statics equation among the forces of the standard force sensors and the whole external load and a stiffness model of the parallel sensor are established based on its equivalent parallel mechanism. The force/torque of the parallel sensor is measured under the given external load. The theoretical solutions of the statics model of the parallel sensor are obtained and verified by both the experimental measuring solutions of the prototype of the parallel sensor and the simulation solutions of a FE model.

     

轴用压电式六维大力值测力仪分载研究

分载比的确定是轴用压电式六维大力值测力仪设计的关键.对现有的该类测力仪分载原理进行了分析研究,建立了理论结构模型,基于材料力学、结构力学对各向分载比公式进行了理论推导,得到测力仪各向分载比公式,并通过ANSYS软件对受夹具夹紧力分布影响较大的轴向分载进行仿真分析,修正了轴向分载比公式.设计了静态标定实验,对传感器及测力...     

一种新型大刚度高灵敏度的并联六维力传感器设计研究

腕力传感器是一类重要的机器人传感器,腕力传感器的结构设计好坏直接影响到传感器的各项指标。在分析了并联力传感器的力变换原理,利用并联传感器的空间力传递关系,直接推导出感测力的六维雅可比矩阵,并将六维力雅可比矩阵用具体的结构参数解析表达,在此基础上设计了一种新的并联六维力传感器,新设计的附加弹性体的采用,使该传感器具有很大的刚度,同时具有很高的检测灵敏度,从而很好地解决了传感器的刚度与灵敏度之间的矛盾,探索了传感器设计的新方法和途径。     

A novel self-decoupled four degree-of-freedom wrist force/torque sensor

Haptic based human–computer interaction (HapHCI) system is currently the frontier of robot research, which is widely used in virtual reality, rehabilitation, entertainment, and so on. The measurement of the multi-dimensional interactive force between human hand and interaction device such as hand-controller, joystick, limb rehabilitation device, etc., becomes an important component of the HapHCI. However, the existing commercial 6 degree-of-freedom (DOF) force sensors are too expensive and often over designed for HapHCI not only in axis but also in bandwidth. In this paper, a novel 4 DOF wrist force/torque sensor suitable for HapHCI is developed, which is self-decoupled without calculating the decoupling matrix. Thus this type of wrist force/torque can be called as direct output force sensor, which is quite different from the conventional ones called as indirect output force sensor. Its elastic body has a simple geometry which is easy to fabricate, and half the number of strain gauges compared to the existing commercial 6 DOF force/torque sensor. So the 4 DOF force/torque sensor is much lower in cost. This paper introduces the elastic body structure of the wrist force/torque sensors, and analyses the self-decoupled principle in detail. A prototype sensor is fabricated, and the calibration test results of the 4 DOF force/torque sensor validate the analysis and demonstrate the advantage of such a sensor.