过约束平面并联三维力/力矩传感器的研制

Development of planar parallel and over restraint three-component force/torque sensor

针对轴承的故障早期诊断和在线实时监测,提出了一种新型过约束平面并联三维力/力矩传感器。通过采用分支轴线均不过传感器中心的6条对称分布的测力分支,该传感器可同时测量轴承径向载荷和轴向力矩。根据静力学平衡方程,求解了其测量数学模型;基于传感器测量模型与性能指标分析了传感器性能,进而对其各结构参数进行优化设计。研制了传感器样机及其加载标定实验系统,开展了加载标定实验,得到了该传感器的测量精度。标定实验结果显示:传感器径向力测量精度为2.56%,力矩测量精度为0.92%,Ⅰ类误差为2.56%,最大Ⅱ类误差为2.29%。文中所做工作,为将该新型过约束平面并联三维力/力矩传感器应用于在线实时测量轴承径向载荷和轴向摩擦力矩奠定了基础。

To achieve early diagnosis and online real-time monitoring of faults for a bearing,a new type of over constraint three-dimension force and moment sensor was put forward.By adopting six symmetrical distribution load branches which all did not pass their centers,the sensor could simultaneously measure the bearing radial load and axial moment.According to the static equilibrium equation,the mathematical model of measurement was established.Based on sensor measurement model and performance index,the performance of the sensor was analyzed,and the structure parameters were optimized.Then a sensor prototype and its load calibration experiment system were developed.Meanwhile,the load calibration experiment was carried out,and the measuring accuracy of the sensor was obtained.The calibration experiment shows that the radial force measuring accuracy is 2.56%,torquemeasurement accuracy is 0.92%,type I error is 2.56%,and the maximum of typeⅡerror is 2.29%.The work lays a foundation for the applications of new constraint planar parallel three dimensional force/torque sensor to the online real-time measurements of bearings on radial loads and axial friction torques.