摘要
为增大传感器量程,适应大负载要求,基于8/4-4并联压电六维力传感器,提出了一种8/4-4分载式并联结构的六维力传感器。基于大力分载原理,在8/4-4并联压电六维力传感器的基础上,各个支链采用压电陶瓷作为敏感元件,增加中心承载梁,使其分载传感器的大部分外负载广义六维力。建立8/4-4分载式并联六维力传感器的数学模型,并推导其解耦算法。通过ADAMS算例仿真与理论模型进行对比,六维力传感器的数学模型及解耦算法的误差不超过0.14%,验证了其准确性。
In order to increase the sensor range and adapt to the large load requirements, based on the 8/4-4 parallel piezoelectric six-axis force sensor, a six-axis force sensor with 8/4-4 split-load parallel structure is proposed. Based on the principle of large force distribution, on the basis of 8/4-4 parallel piezoelectric six-axis force sensor, the piezoelectric ceramics are used as sensitive components for each branch, and a central load beam is added so that it makes the generalized six-axis force of the most external loads of the sensor widely distribute. The mathematical model of 8/4-4 split-load parallel six-axis force sensor is established and its decoupling algorithm is deduced. By comparing the ADAMS example simulation with the theoretical model, the mathematical model of the six-axis force sensor and the decoupling algorithm have an error of less than 0.14%, thus verifying its accuracy.
作者
宋伟山
李成刚
王春明
宋勇
吴泽枫
SONG Weishan;LI Chenggang;WANG Chunming;SONG Yong;WU Zefeng(College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China)
出处
《压电与声光》
CAS
北大核心
2019年第3期392-395,共4页
Piezoelectrics & Acoustooptics
基金
国家自然科学基金资助项目(51175263)
南京航空航天大学研究生创新基地(实验室)开放基金资助项目(kfjj20170512)
关键词
压电六维力传感器
分载
数学模型
解耦算法
雅克比矩阵
piezoelectric six-axis force sensor
split-load
mathematical model
decoupling algorithm
Jacobian matrix
