Multi dimensional force sensor It can be used to detect the force information in space, and has important application value in wind tunnel test, robot assembly, landing gear load test, spacecraft docking and other fields.
In this paper, two kinds of parallel connection of mechanical decoupling are proposed Three dimensional force sensor The measurement models of the new configurations are established respectively force sensor Based on the finite element software, two kinds of parallel three-dimensional forces are designed sensor Finally, the calibration experimental system of mechanical decoupling parallel three-dimensional force sensor is built and the calibration research is carried out.
The main contents are as follows: Based on the rotation principle of steel ball, two new configurations of parallel three-dimensional force sensors with mechanical decoupling are proposed, and the static mapping relationship of the two kinds of mechanical decoupling parallel three-dimensional force sensors in ideal situation is derived; the rotation measurement principle of steel ball in the measurement branch is analyzed, and the measurement model of mechanical decoupling parallel three-dimensional force sensor considering rotational friction is deduced; The general measurement model of mechanical decoupling parallel three-dimensional force sensor considering both sensor preload and rotational friction is derived.
Secondly, the measurement performance of the parallel three-dimensional force sensor is analyzed. Based on the two new configurations of the mechanical decoupling parallel three-dimensional force sensor, the detailed structure design is carried out. At the same time, the general static calibration loading device of the two kinds of mechanical decoupling parallel multi-dimensional force sensor is designed, and the strength of key parts is checked; The virtual calibration and modal analysis of two kinds of mechanical decoupling parallel three-dimensional force sensors are carried out by using finite element software.
From this multi-dimensional development/ Torque sensor The design scheme of polyurethane elastomer, as far as possible for the sensor miniaturization, discusses the construction mode of two kinds of miniaturized sensor polyurethane elastomer (thick wall cylindrical polyurethane elastomer and full plane design polyurethane elastomer) and the important path of calibration capacity.
Application fields of multi-dimensional force sensor:
This product is widely used in remote control robot, robot surgery, robot arm research, finger force research, precision assembly, automatic grinding, contour tracking, hands coordination, zero force teaching and other operations. It is widely used in aviation, aerospace, mechanical processing, automobile and other industries.
Features of multi-dimensional force sensor:
1、 The elastic body of the sensor adopts patent structure, with high sensitivity, good rigidity, small coupling between dimensions and mechanical overload protection function.
2、 The decoupling bridge signal is summarized as six weights in three-dimensional space, which can be directly used for force control.
3、 Standard serial port and parallel port input and output are adopted.
4、 The product can not only form a two-level computer system with the control computer, but also connect the terminal to form an independent test device.