机械解耦自标定并联六维力传感器设计及仿真

Design and Simulation of Mechanical Decoupling Self-calibration Parallel Six Dimensional Force Sensors

针对传统多维力传感器研制后均需繁冗的加载标定这一现状,提出了多维力传感器"自标定"设计理念,通过钢球滚动机械解耦,设计了一种弱耦合全压向力自标定正交并联六维力传感器结构。论证了该六维力传感器的滚动解耦原理,分析了其自标定原理。基于螺旋理论建立了该六维力传感器理想数学模型,计算得到其一阶静力影响系数矩阵。考虑分支弹性变形,基于高次超静定结构力学求解原理,对该六维力传感器进行了受力分析与仿真计算,结合数值算例论证了其自标定特性,从而为该新型六维力传感器的研制奠定基础。

To avoide the present situations of the heavy loading calibration of traditional multi-di- mensional force sensors, a self-calibration design concept of multi-dimensional force sensors was pro- posed, the weak coupling full thrust force self-calibration orthogonal parallel six dimensional force sensor structure was design which might realize mechanical decoupling by the rolling of the steel balls. The rolling decoupling principles of the six dimensional force sensors were demonstrated, and then the self-calibration principles of the six dimensional force sensors were demonstrated. An ideal mathemati- cal model of the six dimensional force sensors was established based on the screw theory, and the first order static influence coefficient matrix was obtained. The force analysis and simulation of the six di- mensional force sensor were carried out with considering the elastic deformations based on the me- chanics solution principles of high-order statieally indeterminate structure, and the self-calibration characteristics were proved by combining the numerical examples, which sets the development foun- dation of the novel six dimensional force sensors_