用有限元法对腕力传感器弹性体的力学分析

Mechanical study on the elastic body of a wrist force-torque sensor with finite element method

用有限元法对六维腕力传感器的弹性体进行分析,包括建立模型、划分网格以及单维力和力矩的加载求解;提取关键点处应变,由线性变换得到六路输出,并计算输出与载荷之间的关系(即传递矩阵)。最后通过对弹性体施加多维力和力矩对传递矩阵进行了验证。

?The static calibration on a sixaxis wrist forcetorque sensor is deals with.With finite element method,the strains of exact key points on the elastic body of the sensor can be tested.Six output data corresponding to six components of the force can be calculated to determine the transmission matrix.Several experiments are carried out to prove the matrix.