轮辐式力传感器的设计与分析

Design and analysis of spoke-type force sensor

设计了一种应用于工业机器人末端的轮辐式力传感器,该传感器具有结构简单、线性度好、纯剪切测量等特点。首先根据传感器结构以及力-应变-电压转换原理确定传感器轮辐截面尺寸和应变片组桥方式;然后利用有限元分析软件Patran对轮辐式力传感器进行静力分析,确定应变片最佳粘贴位置,得到传感器在受力时的应力-应变状态、线性度与灵敏度,并且对传感器进行模态分析,得到传感器固有频率;最后对传感器进行标定实验,实验结果表明,传感器线性度良好,灵敏度与有限元分析结果基本一致,满足实际使用要求。

A spoke-type force sensor is designed to apply to the end of industrial robots.The sensor has the advantages of simple structure,good linearity,pure shear measurements etc..Firstly,according to the sensor structure and the forcestrain-voltage conversion principle,the cross-sectional dimensions of the sensor elastomer and the strain gauge bridging method wasdetermined.Then,the static analysis of the spoke-type force sensor is carried out by using the finite element software patran,and the optimal position of the strain gauge is determined.The stress-strain state,linearity and sensitivity of the sensor under stress are obtained.The natural frequency of the sensor is obtained by modal analysis of the sensor.Finally,the sensor calibration experiment is carried out.The experimental results show that the linearity of the sensor is well,and the sensitivity of the sensor is basically consistent with the results of finite element analysis,which meets the actual requirements.