面向运动力学测量的无线六维力传感器

Wireless six-dimensional force sensor for motion mechanics measurement

针对目前六维力传感器普遍存在的体积偏大、操作繁琐、应用场景复杂的问题,设计了一种基于电阻应变原理的小型化无线六维力传感器。首先,基于十字横梁结构设计传感器的弹性体,并通过ANSYS软件进行结构静力学分析,确定了传感器的最优结构尺寸;其次,基于传感器小型化和无线传输的设计要求,设计了传感器的内部硬件电路,包括四等臂全桥电路、两级放大电路以及数据采集与传输电路,有效减小了传感器的体积,增强了灵活性;最后,设计并优化了静态标定方法及静态解耦算法,降低了传感器的维间耦合干扰,提高了测量精度。实验结果表明,该传感器室内无线传输距离达到8 m,传输速率满足中低频力信号测量,Ⅰ类与Ⅱ类误差均满足在高精度要求场合的使用。

Aiming at the problems of big volume,cumbersome operation and complex application scenariocommonly existing in current six-dimensional force sensor,a miniaturized wireless six-dimensional force sensor is designedbased on resistance strain principle in this study.Firstly,the elastomer of the sensorwas designed based on cross beam structure,ANSYS software was used to perform structure statics analysis and the optimal structure dimensions of the sensor were determined.Secondly,based on the design requirements of sensor miniaturization and wireless transmission,the internal hardware circuit of the sensor was designed,including four-arm-full-bridge circuit,two-stage amplification circuit and data acquisition and transmission circuit,which effectively reduces the volume of the sensor and enhances the flexibility.Finally,the static calibration methodwas designed and optimized,and the static decoupling algorithm based on coupling error modeling was adopted to reduce the inter-dimensional coupling interference of the sensor and improve the measurement accuracy of the sensor.The experiment results show that the indoor wireless transmission distance of the sensor reaches to 8 m,the transmission rate satisfies the low/medium-frequency force/torque signal measurement requirement,and the type I and II errors satisfy the requirementofhigh precision applications.