8/4-4分载式并联六维力传感器建模与分析
|
摘要
为增大传感器量程,适应大负载要求,基于8/4-4并联压电六维力传感器,提出了一种8/4-4分载式并联结构的六维力传感器。基于大力分载原理,在8/4-4并联压电六维力传感器的基础上,各个支链采用压电陶瓷作为敏感元件,增加中心承载梁,使其分载传感器的大部分外负载广义六维力。建立8/4-4分载式并联六维力传感器的数学模型,并推导其解耦算法。通过ADAMS算例仿真与理论模型进行对比,六维力传感器的数学模型及解耦算法的误差不超过0.14%,验证了其准确性。
In order to increase the sensor range and adapt to the large load requirements, based on the 8/4-4 parallel piezoelectric six-axis force sensor, a six-axis force sensor with 8/4-4 split-load parallel structure is proposed. Based on the principle of large force distribution, on the basis of 8/4-4 parallel piezoelectric six-axis force sensor, the piezoelectric ceramics are used as sensitive components for each branch, and a central load beam is added so that it makes the generalized six-axis force of the most external loads of the sensor widely distribute. The mathematical model of 8/4-4 split-load parallel six-axis force sensor is established and its decoupling algorithm is deduced. By comparing the ADAMS example simulation with the theoretical model, the mathematical model of the six-axis force sensor and the decoupling algorithm have an error of less than 0.14%, thus verifying its accuracy.
In order to increase the sensor range and adapt to the large load requirements, based on the 8/4-4 parallel piezoelectric six-axis force sensor, a six-axis force sensor with 8/4-4 split-load parallel structure is proposed. Based on the principle of large force distribution, on the basis of 8/4-4 parallel piezoelectric six-axis force sensor, the piezoelectric ceramics are used as sensitive components for each branch, and a central load beam is added so that it makes the generalized six-axis force of the most external loads of the sensor widely distribute. The mathematical model of 8/4-4 split-load parallel six-axis force sensor is established and its decoupling algorithm is deduced. By comparing the ADAMS example simulation with the theoretical model, the mathematical model of the six-axis force sensor and the decoupling algorithm have an error of less than 0.14%, thus verifying its accuracy.
引文
[1] SUN Yongjun,LIU Yiwei,ZOU Tian,et al.Design and optimization of a novel six-axis force/torque sensor for space robot[J].Measurement,2015,65:135-148.
[2] 张小龙,张为公,周木子.汽车ABS侧向稳定性能道路试验评价系统研究[J].中国机械工程,2006(10):1091-1095.
[3] 马弘跃,童淑敏,安珍.小型力传感器在沙柳切削过程中的应用[J].传感器与微系统,2007(11):115-116.
[4] 武金艺,黄金凤,朱少伦,等.并联水泥装载机器人运动学研究[J].机床与液压,2016,44(5):101-103.
[5] 张军,齐亚州,任宗金,等.标定偏心下压电力传感器测试精度研究[J].压电与声光,2017,39(6):873-877.ZHANG Jun,QI Yazhou,REN Zongjin,et al.Study on test precision of piezoelectric force sensor under load deviation calibration[J].Piezoelectrics & Acoustooptics,2017,39(6):873-877.
[6] ZHANG Wei,LUA K B,TRUONG V T,et al.Design and characterization of a novel T-shaped multi-axis piezoresistive force/moment sensor[J].IEEE Sensors Journal,2016,16(11):4198-4210.
[7] KANG M K,LEE S,KIM J H.Optimal design of a mechanically decoupled six-axis force/torque sensor based on the principal cross coupling minimization[C]// San Diego,California,United States:International Society for Optics and Photonics,2014,9061:90612N.
[8] LU Yi,CHEN Liwei,WANG Peng,et al.Statics and stiffness analysis of a novel six-component force/torque sensor with 3-RPPS compliant parallel structure[J].Mechanism and Machine Theory,2013,62:99-111.
[9] LU Yi,WANG Yongli,YE Nijia,et al.Development of a novel sensor for hybrid hand with three fingers and analysis of its measure performances[J].Mechanical Systems and Signal Processing,2017,83:116-129.
[10] 王志军,刘琬钰,崔冰艳,等.新型并联式六维力传感器及静态性能分析[J].机械设计与研究,2015(4):44-48.
[11] 倪风雷,邹添,孙永军,等.空间大型机械臂末端12维传感器设计及应用[J].机器人,2017,39(3):257-264.
[12] 姚建涛,侯雨雷,牛建业,等.大量程预紧式六维力传感器及静态标定研究[J].仪器仪表学报,2009,30(6):1233-1239.
[13] KANG C G.Closed-form force sensing of a 6-axis force transducer based on the stewart platform[J].Sensors & Actuators A Physical,2012,90(1):31-37.
[2] 张小龙,张为公,周木子.汽车ABS侧向稳定性能道路试验评价系统研究[J].中国机械工程,2006(10):1091-1095.
[3] 马弘跃,童淑敏,安珍.小型力传感器在沙柳切削过程中的应用[J].传感器与微系统,2007(11):115-116.
[4] 武金艺,黄金凤,朱少伦,等.并联水泥装载机器人运动学研究[J].机床与液压,2016,44(5):101-103.
[5] 张军,齐亚州,任宗金,等.标定偏心下压电力传感器测试精度研究[J].压电与声光,2017,39(6):873-877.ZHANG Jun,QI Yazhou,REN Zongjin,et al.Study on test precision of piezoelectric force sensor under load deviation calibration[J].Piezoelectrics & Acoustooptics,2017,39(6):873-877.
[6] ZHANG Wei,LUA K B,TRUONG V T,et al.Design and characterization of a novel T-shaped multi-axis piezoresistive force/moment sensor[J].IEEE Sensors Journal,2016,16(11):4198-4210.
[7] KANG M K,LEE S,KIM J H.Optimal design of a mechanically decoupled six-axis force/torque sensor based on the principal cross coupling minimization[C]// San Diego,California,United States:International Society for Optics and Photonics,2014,9061:90612N.
[8] LU Yi,CHEN Liwei,WANG Peng,et al.Statics and stiffness analysis of a novel six-component force/torque sensor with 3-RPPS compliant parallel structure[J].Mechanism and Machine Theory,2013,62:99-111.
[9] LU Yi,WANG Yongli,YE Nijia,et al.Development of a novel sensor for hybrid hand with three fingers and analysis of its measure performances[J].Mechanical Systems and Signal Processing,2017,83:116-129.
[10] 王志军,刘琬钰,崔冰艳,等.新型并联式六维力传感器及静态性能分析[J].机械设计与研究,2015(4):44-48.
[11] 倪风雷,邹添,孙永军,等.空间大型机械臂末端12维传感器设计及应用[J].机器人,2017,39(3):257-264.
[12] 姚建涛,侯雨雷,牛建业,等.大量程预紧式六维力传感器及静态标定研究[J].仪器仪表学报,2009,30(6):1233-1239.
[13] KANG C G.Closed-form force sensing of a 6-axis force transducer based on the stewart platform[J].Sensors & Actuators A Physical,2012,90(1):31-37.