膜片式水下力传感器力学特性与设计原则分析

以水下机器人所用多轴力传感器的压力平衡结构为研究对象，基于液体的可压缩性，提出了膜片式压力平衡传感器内外压力差的迭代算法，推导出了膜片式压力平衡法的内外压力差、额外轴向力及相关公式。分析了压力差在传感器上产生的额外轴向力及影响额外轴向力的相关因素，结果表明,膜片式压力平衡法难以胜任大压力平衡。总结了膜片式水下力传感器结构设计原则：基于膜片式压力平衡的水下力传感器结构应紧凑，其长径比、壁厚应尽可能小；压力平衡膜片面积应尽量大，而内部存油液应尽量少。

Mechanical Characteristics and Design Principles of Underwater Force Sensor Based on Pressure Balance of Film

Based on the condensability of liquid, the structure used in multi-axis force sensor of underwater robot aimed at balancing hydraulic pressure was investigated and an iteration algorithm used to calculate the pressure difference between in and out of the sensor was put forward, which applied the pressure balance method of film. Formulas of pressure difference, additional axial force and so on in the pressure balance method of film were educed. The relative factors especially the pressure difference were analyzed,which affected the additional axial force acting on the sensor. Results show that the pressure balance method of film unfit for high pressure balance while possessing a wonderful ability to balance the slight pressure under high pressure. The criterions in designing the structure of the underwater force sensor of film are summed up, viz. compact structure, small ratio of length and diameter, large film of pressure balance, small thickness of wall and little oil inside the structure.