六维腕力传感器非线性正解耦方法设计

Design of nonlinear directly decoupling method for six-axis wrist force sensor

多维力传感器利用其多个转换单元完成测量加载于其结构上未知负载的作用效果,解耦是其设计的重要组成部分。针对传统静态线性解耦方法的不足,试图将传统线性解耦方程扩展为多项式结构,受其多元高次方式通解形式的启发,构造了一种多项式非线性静态正解耦方程,该方法无需传统线性解耦方法中的曲线拟合、逆解,不依赖以系统是线性为前提,且方程可以扩展成任意结构的多项式。实验结果表明:该方法能降低输出耦合误差。

A muhi-axis force sensor is a device in which several simple transducers measure the effects of unknown loads on the mechanical structure, decoupling is an important part for its design. Aiming at shortcomings of traditional static linear decoupling method, attempt to extend the traditional linear decoupling equation to polynomial structure,inspired by the general form of the inverse solution to polynomial, a nonlinear polynomial static directly decoupling equation is established, the method does not need curve fitting and inverse solution in traditional linear decoupling method, and does not depend on the precondition that the relationship between input and output is assumed to be linear behavior, and it can be expanded easily to produce any polynomial type required. The experimental results show that the method can reduce significantly output coupling error.