| 基于薄板和伯努利-欧拉梁理论的六维力传感器动态特性分析 |
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| 引用本文： | 卫然,张志才,许德章.基于薄板和伯努利-欧拉梁理论的六维力传感器动态特性分析[J].安徽机电学院学报,2012(2):54-57. |
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| 作者姓名： | 卫然 张志才 许德章 |
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| 作者单位： | [1]安徽工程大学先进数控和伺服驱动技术安徽省重点实验室,安徽芜湖241000 [2]海军安庆市职业技术学校,安徽安庆246016 |
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| 基金项目： | 国家自然基金资助项目（51175001）;安徽省自然科学基金资助项目（11040606m144） |
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| 摘 要： | 摘耍：六维力传感器可以测量三维空间内3个方向上的力和力矩信息，在机器人感知和控制方面起着极其重要的作用．传感器的动态特性包括时域领域特性和频域领域特性．其中，固有频率和模态振型特征是传感器频率领域动态特性的重要参数．文章基于弹性力学中薄板和伯努利一欧拉梁理论建立传感器各模块动态数学模型，分析出各方向一阶固有频率和主振型，为传感器动态特性领域深入研究提供理论参考．关键词：六维力传感器；动态特性；薄板；伯努利一欧拉梁；固有频率中图分类号：TH39文献标识码：A
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| 关 键 词： | 六维力传感器 动态特性 薄板 伯努利一欧拉梁 固有频率 |
Dynamic characteristics analysis of six dimensional force sensor based on the thin plate and Bernoulli-Euler beam theory |
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| WEI Ran,ZHANG Zhi-cai,XU De-zhang.Dynamic characteristics analysis of six dimensional force sensor based on the thin plate and Bernoulli-Euler beam theory[J].Journal of Anhui Institute of Mechanical and Electrical Engineering,2012(2):54-57. |
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| Authors: | WEI Ran ZHANG Zhi-cai XU De-zhang |
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| Affiliation: | 1 (1. An Hui Key Laboratory of Advanced Numerical Control ＆ Servo Technology, Anhui Polytechnic University, Wuhu 241000, China 2. Anqing Navy Technical School, Anqing 246016 ,China) |
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| Abstract: | Six dimensional force sensor can measure force and torque information in each direction of the space, which plays a very important role in the fields of perception and feedback control of robots. Sensor dynamic characteristics include time domain characteristics and frequency domain characteristics. Among them, natural frequency and vibration mode are the important parameters in frequency domain of sensor dynamic characteristics. This article establishes the dynamic mathematical model of sensor through theories of thin plate and Bernoulli Euler beam, and analyses the first-order natural frequency and main vibration model of each direction, which provides the theoretical reference for the research of sensor dynamic characteristics. |
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| Keywords: | six dimensional force sensor dynamic characteristics thin plate bernoulli Euler beam natural frequency |
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