Force/Moment Isotropy of 8/4-4 Parallel Six-Axis Force Sensor Based on Performance Atlases

A six-axis force sensor with parallel 8/4-4 structure is introduced and its measurement principle is analyzed.Based on condition numbers of Jacobian matrix spectral norm of the sensor,the relationship between the force and moment isotropy and some structural parameters is deduced.Orthogonal test methods are used to determine the degree of primary and secondary factors that have significant effect on sensor characteristics.Furthermore,the relationship between each performance index and the structural parameters of the sensor is analyzed by the method of the atlas,which lays a foundation for structural optimization design of the force sensor.

A novel fully-integrated miniature six-axis force/torque sensor

This paper presents a new designed miniature six DOF （degree of freedom） force/torque sensor. This sensor is fully integrated with a micro DSP （digital signal processor）, so all the signal conditioning, A/D, decoupling, digital-signals serial output are performed in the sensor. Some experimental results are presented to demonstrate the capability of the proposed design. Finally, a neural network was used for decoupling the interacting signals, compared with the conventional method using the inverse matrix, this new method is more accurate.

Dynamic analysis of double-layer and pre-stressed multi-limb six-axis force sensor

In order to adapt to the specific task, the six-axis dynamic contact force between end-effectors of intelligent robots and working condition needs to be perceived. Therefore, the dynamic property of six-axis force sensor which is installed on the end-effectors of intelligent robots will have influence on the veracity of detection and judgment to working environment contact force by intelligent robots directly. In this paper, dynamic analysis to double-layer and pre-stressed multi-limb six-axis force sensor is conducted. First, the structure of the sensor is introduced, and the limb number is confirmed by introducing the related definitions of convex analysis. Then, based on vibration of multiple-degree-of-freedom system, a mechanical vibration simplified model of double-layer and pre-stressed multiple limb six-axis force sensor is set up. After that, movement differential equations of sensor and the response of analytical expression are deduced, and the movement differential equations is solved. Finally, taking the double-layer and pre-stressed seven limb six-axis force sensor as an example, numerical calculation and simulation of deriving result is conducted, which verify the correctness and feasibility of the theoretical analysis.

Optimal design and experiment research of an orthogonal-parallel six-axis force/torque sensor

A novel orthogonal-parallel six-axis force/torque sensor is studied based on a modified Stewart platform architecture,and the optimal design and experiment research of the sensor are discussed.Firstly,the model of orthogonal parallel six-axis force/torque sensor based on improved Stewart platform architecture and its static mathematical model are proposed.Secondly,according to the actual working condition of the sensor,the sensor is optimized and the optimal solution is obtained.Then,the experimental prototype and calibration system is developed.Finally,the superiority of the sensor structure and the effectiveness of the optimization method are verified by calibration experiments.The results of the proposed method are useful for the further research and application of the orthogonal-parallel six-axis force/torque sensor.

基于Stewart结构六维大力传感器的性能分析及结构优化

针对基于Stewart结构新型六维大力传感器在结构设计时存在诸多性能指标难以均衡的问题,对传感器的结构几何参数与其性能的关系进行了分析。依据基于Stewart结构六维大力传感器的测量原理,建立了传感器测量精度与一阶静力影响系数矩阵条件数的关系模型。通过分析力及力矩一阶静力影响系数矩阵和力及力矩柔度矩阵,揭示了传感器的各向同性指标、灵敏度及其各向同性指标与其结构参数之间的相互关系。并通过图谱优化方法和遗传算法对新型六维大力传感器的结构参数进行了优化。其分析结果将为六维大力传感器的结构设计提供有效的参考。

压电薄膜三维重载力传感器设计与实验

面向高性能轴承滚动体成型质量监控领域对重载多维高频强冲击载荷动态测量力传感器的急需,提出了一种基于PVDF压电薄膜三维重载力传感器新的结构形式及其测量原理,实现三维重载载荷动态测量。传感器敏感元件由上、中、下3层压电薄膜组组成,三维力变化引起每组不同面域切割的压电薄膜电荷量变化,从而实现三维力大小计算。传感器支撑壳体起到分载作用,从而实现重载载荷测量。对传感器样机进行了准静态标定实验,结果表明,该传感器具有较好的线性,非线性误差小于2%,能完成重载场合下的动态测量要求,为压电薄膜力传感器在重载多维载荷动态测量领域提供了重要的设计、研制及应用参考依据。

大力测量技术的新进展——附着式超轻型大力传感器

大力传感器是现代重型装备的高科技电子信息器件。文章围绕重型大力传感器的微型化问题论述了重型装备大力测量的意义、特征及发展 ,讨论了大力分流测量的物理模型 ,介绍了作者发明的超轻型附着式大力传感器及其工程应用。

压电式力传感器三向分载研究

针对测力仪中因敏感元件自身量程上限不能满足重载测试需求的问题,以压电力传感器为研究对象开展了分载研究。通过建立传感器分载装置模型,对模型的三向分载公式及理论分载比进行推导计算,并利用有限元仿真与标定实验对影响分载效果的因素进行了分析。结果表明:分载环横截面积变化及高度差异是影响分载效果的主要因素,分载比计算值与实验测试值的相对误差在4.6%以内。

六维大力传感器测量原理研究

针对巨型重载操作机六维大力测量的难题,提出了一种并联六维大力测量的方法,即采用Stewart结构与重型操作机械手手臂并联的方式,将机械手臂所受六维大力的小部分分载于Stewart结构的六杆,并对传感器进行力学解耦,进而实现六维大力值的测量.给出了六维大力传感器的仿真实例,并分析了传感器重要参数对分载能力的影响.实例表明:增大分载梁半径和减小上平台厚度都会提高分载能力,尤其分载梁半径对分载能力影响较大.为六维大力传感器的进一步优化设计提供了一定的理论依据,且最终验证了该测量方法的合理性和有效性.

面向冲床冲击力测量的单分量重载传感器

为了测量冲击载荷达150 t,冲击频率为10 Hz的冲床冲击载荷,降低产品的废品率,本文设计、制造和评估了一种新颖的单分量重载传感器,冲床安装空间限制了该传感器的结构尺寸为Φ166 mm×45 mm,该传感器为4个支撑梁和1个应变梁组成的整体式结构,可保证传感器同时具有高刚度和高灵敏度。用一台300 t万能液压机进行静态标定,标定结果表明传感器的绝对误差达到2%。最后,现场实验进一步鉴定传感器的性能。

中厚板轧机轧制力测量传感器原理分析

本文介绍了几种中厚板轧机测力传感器的工作原理及安装位置,并对其进行分析,这对于中厚板轧机测力传感器的选择具有一定的指导意义。

虚拟轧制力检测在中厚板轧机的应用

分析了天津钢铁集团有限公司炼轧厂的中厚板轧机的轧制力与轧制扭矩间关系,建立起数学模型。对中厚板轧机的辊缝标定、调零和轧制过程控制程序进行了修改,将实时采集的轧制扭矩信号转换为轧制力信号,实现了轧制力的虚拟检测,满足了轧制生产工艺和过程控制的要求。

重型卧式车床尾座顶紧力测控装置的研究

介绍了一种电阻应变式传感器测力装置,通过电阻应变原理利用数显表显示,可对机床尾座顶紧力进行测量和加力控制。经试验,此测控装置承载能力大、灵敏度高、结构紧凑并且使用方便。

组合式自解耦压电薄膜三维力传感器研制

针对传统三维力传感器存在的非线性误差、维间耦合误差过大等瓶颈问题,面向重载、高频、强冲击三维力的测量需求,基于聚偏氟乙烯(PVDF)压电薄膜,结合并联分载原理,创新性的利用冲击力产生的倾覆力矩,设计了立柱菱形布局的压电薄膜三维力传感器结构,立柱菱形布局时具有抵消维间耦合能力,每个立柱近似只受单个倾覆力矩的影响,故可进行组合测量。探究了PVDF压电薄膜的最优布置,采用理论分析、有限元仿真分析和实验验证相结合的方法,对传感器设计方案的可行性进行了验证。研制了组合式自解耦压电薄膜三维力传感器样机,分别对其进行准静态标定实验和动态标定实验,实验结果表明,改进后传感器具有高灵敏度、高固有频率等特点,3个方向非线性误差均小于0.2%,维间耦合误差在1.2%以内,其结构设计具备抵消维间耦合的能力。该三维力传感器在高精密轴承钢球冷镦成型及瞬态强冲击等场景下有着重要的应用价值及潜力。

附着式大力传感技术的研制

针对当前现有轧钢机等重型生产设备尚无现代测控系统的现实 ,提出了采用大力测量技术的附着式超轻型大力传感器加速实现金属压力加工设备主参数测控系统的普及与现代化的见解 ;讨论了传统重型大力传感器微型化的基本思路和大力分流测量的信息传感模式及其物理模型。对附着式大力传感器的工作原理、技术特征、安装布置及其工程应用等进行了阐述。