六维力传感器的结构设计分析

为了改善现有六维力传感器的动态性能,提出了一种新型的六维力传感器弹性体结构。建立了结构模型,并采用有限元方法进行了静力学分析以及模态分析,分析了该传感器弹性体在各工况下的应变分布特征;随后对弹性体的关键尺寸参数进行了详细的设计,基于响应面分析法对数值计算结果进行拟合,建立了各工况下响应值与弹性体关键尺寸的回归方程。分析结果表明,该传感器具有良好的动态性能,其一阶固有频率高达3196. 3 Hz,各个力分量的灵敏度均有提高,其中x方向力的灵敏度提高了26. 09%。通过实验验证了该设计方案的可行性,该传感器的研制为高速作业机器人用多维力传感器的发展奠定了基础。

Structure Design and Analysis of Six-Dimensional Force Sensor

A novel elastomer structure of six-dimensional force sensor is proposed to improve the dynamic performance of the existing six-dimensional force sensor.The structural model was established,the static analysis and modal analysis were carried out by using the finite element method,and the strain distribution characteristics of the sensor elastomer under various working conditions were analyzed.The critical size parameters of the elastomer were designed.The numerical results were fitted based on response surface analysis,and the regression equation between the response value and the critical size of the elastomer under various working conditions was established.The analysis results show that the sensor has good dynamic performance,with the first-order natural frequency as high as 3196.3 Hz,and the sensitivity of each force component is improved,and the sensitivity of force at the x-direction is increased by 26.09%.The feasibility of the design scheme is verified by experiments,and the development of this sensor lays a foundation for the development of multi-dimensional force sensors for high-speed working robots.