基于大变形理论的机械手四维柔性位移感器研究及标定

Research and Calibration of Flexible Four-Dimensional Displacement Sensor of Manipulator Based on Large Deformation Theory

本文针对柔性四维位移传感器各方向位移之间的耦合问题,对其位移与应变关系进行了研究。通过对弹性体表面应变片布片方案的优化以及采用基于悬臂梁模型的大变形理论,有效降低了x、y、z、θ_(z)四个方向之间的位移耦合,实现了对各方向位移的精确测量,并通过仿真分析验证了该模型及方法的正确性。最后,制作了四维位移传感器,并进行了实验测试及标定,结果表明该传感器不仅能同时进行多方向位移测量,还能把全量程测量误差控制在4%以内,尤其是x、y方向测量误差小于2%。实现了结构简单、测量范围大、测量精度高的四维位移传感器的设计及验证。

The relationship between the displacement and the strain of the flexible four-dimensional displacement sensor is studied,which mainly focuses on the coupling problem among the displacements in various directions.By optimizing the layout of the elastic body surface strain gauges and adopting the large deformation theory based on the cantilever beam model,the displacement coupling among the four directions of x,y,z andθ_(z) is effectively reduced,and the displacement measurement of each direction is accurate.The measurement results and simulation analysis verify the correctness of the model and method.Finally,a four-dimensional displacement sensor is fabricated,tested and calibrated experimentally.The results show that the sensor can not only perform multi-directional displacement measurement simultaneously,but also control the measurement error of the full range within 4%,specifically,the measurement error in the x and y directions is less than 2%.Therefore,the design and verification of a four-dimensional displacement sensor with simple structure,large measuring range and high accuracy is realized.