一种新型工业机器人六维力传感器设计研究

Design and study of a new type of six-dimensions force sensor for industrial robot

采用理论分析和数值模拟方法研究新型结构传感器的可行性和力学特性。提出一种新型应变片式六维力传感器结构,运用电学理论阐述其测量原理,并借用数学方法分析其结构解耦特性。经合理简化,并对弹性球铰做等效处理,在Hyperworks中生成传感器各组构MNF,导入Adams/View后建立传感器仿真模型。分别在不同力和力矩工况下进行力学仿真,获得了传感器各部分的响应特性。理论分析和仿真结果表明:该结构测量方法合理可行,且力学性能较好。

The feasibility and mechanical properties of sensor with new type of structure are studied by ways of theoretical analysis and numerical simulation methods. New structure of a six-dimensions force sensor based on strain gauge is proposed, its measuring principle is elaborated by using electrical theory, and also its structural decoupling property is analyzed by means of mathematical methods. After reasonable simplification and equivalent treatment on elastic ball joints, MNF files of sensor fabrication are generated in Hyperworks, then sensor simulation model is established after importing Adams/View. And then mechanical simulation under different force and torque conditions are done separately, response characteristics of sensor are obtained. Theoretical analysis and simulation results show that measuring methods of this structure is reasonable and feasible, and its mechanical property is also good.