一种新型自解耦六维力/力矩传感器结构设计与优化

Structural design and optimization for a novel self-decoupling six-dimensional force / torque sensor

针对多维传感器广泛存在维间耦合效应,精度难以提高的问题,设计了一种具有自解耦特性的新型六维力/力矩传感器。采用有限元法对该传感器弹性体进行静力分析,研究了结构在不同工况下的应力应变分布。基于结构变形特点,对特征点位置和布片组桥方式进行了优化。同时也对结构进行了维间耦合分析,验证了该新型传感器具有耦合效应低的优点,提高了传感器的精度,具有较好的应用前景。

Aiming at problems of dimension coupling and precision restricting of multi-dimensional sensor,design a novel force / torque（ F / T） sensor of six dimensions with self-decoupling characteristics. The finite element method is adopted for static analysis on sensor,and distribution of stress and strain of structure deformation,is studied. Based on feature of structure deformation,optimize feature point positions as well as bridging form of strain gauge. At the same time,it is verified from the dimension coupling analysis that the novel sensor has an advantage of low-coupling effect and precision of the sensor is it is improved,and has a good prospect of application.