摘要
六维力传感器的动态性能在实际应用中非常重要,文中对正交并联式六维力传感器进行了动态性能的理论分析与实验研究。首先介绍了正交并联式六维力传感器的结构及特点,建立了传感器的数学模型。然后根据螺旋理论与多自由度系统振动力学推导分支振动模型和传感器整体振动模型,并求解传感器系统的运动微分方程。最后搭建了传感器测试系统并进行了脉冲响应实验,通过比较固有频率的理论数值与实验数值,验证了理论分析的正确性和可行性。
Becausethe dynamic performance of six dimensional force sensor is very important in practical application,the dynamic performance of orthogonal parallel six-dimensional force sensor is studied theoretically and experimentally in this paper.Firstly,the structure and characteristics of the orthogonal parallelsix-dimensional force sensor are introduced,and the mathematical model of the sensor is established.Then the vibration models of leg and whole sensor are derivedbased on spiral theory and vibration mechanics of multi-degree of freedom system,and the motion differential equation of sensor system is solved.Finally,the sensor measurement system is built and the impulse response experiment of the sensor is carried out.By comparing the theoretical value of natural frequency with the experimental value,the correctnessandfeasibilityof theoretical analysis are verified.
作者
王志军
王仕武
谷向飞
贺静
WANG Zhijun;WANG Shiwu;GU Xiangfei;HE Jing(College of Mechanical Engineering,North China University of Science and Technology,Tangshan Hebei 063210,China;Industrial Robotics Research Institute of Hebei Province,Tangshan Hebei 063210,China;Tangshan Polytechnic College,Tangshan Hebei 063299,China)
出处
《机械设计与研究》
CSCD
北大核心
2020年第6期59-62,68,共5页
Machine Design And Research
基金
国家自然科学基金资助项目(51505124)
河北省高等学校科学技术研究项目(ZD2020151)
唐山市科技计划自筹经费资助项目(17110237a)
华北理工大学培育基金项目(JP201505)。
关键词
六维力传感器
正交并联式
振动分析
固有频率
six-axis force sensor
orthogonal parallel
vibrationanalysis
natural frequency
