一种三梁结构六维力传感器设计与研究

Design and Research of a Six-axis Force Sensor with Three-beam Structure

设计了一种三梁结构六维力传感器,详述了传感器弹性体在各载荷分量作用下应变梁的应变情况,并通过合理的应变片组桥电路将各载荷分量信号转换成电压信号输出。提出了一种简化计算解耦矩阵的方法,最后通过有限元仿真技术施加10组载荷,求解并验证解耦矩阵,结果表明该六维力传感器设计方案和解耦方法完全可行。

A six-axis force sensor with three-beam structure is designed,and the strain of the elastomer beam under the action of each axial force is described in detail,and each axial force signal is converted into voltage signal output by a reasonable bridge circuit.A simplified method to calculate the decoupling matrix is proposed.Finally,10 groups of loads are applied using finite element simulation technology to solve and verify the decoupling matrix.The results show that the design and decoupling method of the six-axis force sensor are feasible.