8/4-4分载式并联六维力传感器建模与分析

为增大传感器量程,适应大负载要求,基于8/4-4并联压电六维力传感器,提出了一种8/4-4分载式并联结构的六维力传感器。基于大力分载原理,在8/4-4并联压电六维力传感器的基础上,各个支链采用压电陶瓷作为敏感元件,增加中心承载梁,使其分载传感器的大部分外负载广义六维力。建立8/4-4分载式并联六维力传感器的数学模型,并推导其解耦算法。通过ADAMS算例仿真与理论模型进行对比,六维力传感器的数学模型及解耦算法的误差不超过0.14%,验证了其准确性。

Modeling and Analysis of 8/4-4 Split-load Parallel Six-Axis Force Sensor

In order to increase the sensor range and adapt to the large load requirements, based on the 8/4-4 parallel piezoelectric six axis force sensor, a six axis force sensor with 8/4-4 split-load parallel structure is proposed. Based on the principle of large force distribution, on the basis of 8/4-4 parallel piezoelectric six axis force sensor, the piezoelectric ceramics are used as sensitive components for each branch, and a central load beam is added so that it makes the generalized six axis force of the most external loads of the sensor widely distribute. The mathematical model of 8/4 4 split load parallel six-axis force sensor is established and its decoupling algorithm is deduced. By comparing the ADAMS example simulation with the theoretical model, the mathematical model of the six axis force sensor and the decoupling algorithm have an error of less than 0.14%, thus verifying its accuracy.