摘要
针对多维力传感器存在维间耦合串扰和多维载荷联合标定难实施等问题,基于传统并联机构和构型演化设计方法,提出一种可满足平面两维测力需求的结构解耦型二维力传感器新构型,并确定出其最佳贴片组桥方案。利用线弹性梁理论和模块建模方法,以整体刚度为桥梁,构建出二维力传感器两桥路输出应变与其待测载荷间的应变解析模型,借助有限元和标定试验数据验证所构建解析模型的正确性。通过搭建的标定系统对传感器进行单维静载性能测试和两维联合标定,结果表明所设计的传感器具有较高的测量精度和较小的维间耦合,同时基于最小二乘线性拟合获取的线性解耦矩阵可实现待测载荷的高精度预测,进而为多维测力传感器解耦设计和线性高精度解耦提供重要支撑。
Aiming at the problems of cross-coupling crosstalk and difficulty in combined calibration of multiple loads for multi-axis force sensors,based on the traditional parallel mechanism and configuration evolution design method,a new two-axis force sensor with decoupled configuration that can meet the measuring requirements of two planar force components is proposed,and the optimal bridge-connection scheme is determined.Utilizing the linear elastic-beam theory and modular modeling method,the strain analytical model between output strain of two bridges for the presented sensor and measured loads is constructed with the overall stiffness as the bridge.The correctness of the analytical model is verified with the finite element analysis and calibration experiments.The single-axis static-load performance testing and two-dimensional combined calibrations are performed with the sensor calibration system.The results show that the designed sensor has higher measurement accuracy and smaller cross coupling.Meanwhile,the linear-decoupling matrix obtained with the least-square linear fitting can achieve high-precision prediction for two measured loads,which provides the important support for the decoupling design of multi-axis force sensors and linear high-precision decoupling.
作者
李立建
申宁
孙利
姚建涛
吴婷婷
LI Lijian;SHEN Ning;SUN Li;YAO Jiantao;WU Tingting(School of Mechanical Engineering,North China University of Water Resources and Electric Power,Zhengzhou 450045;Parallel Robot and Mechatronic System Laboratory of Hebei Province,Yanshan University,Qinhuangdao 066004)
出处
《机械工程学报》
北大核心
2025年第12期39-49,共11页
Journal of Mechanical Engineering
基金
国家自然科学基金(52005181,U2037202,52375030)
河南省科技攻关(252102220107)
河南省高等学校重点科研项目计划支持(24A460016)
河北省科学技术研究与发展计划中央引导地方科技发展资金项目科技创新基地(246Z1802G)资助项目。
关键词
二维力传感器
应变解析
联合标定
性能测试
线性解耦
two-axis force sensor
strain analysis
combined calibration
performance testing
linear decoupling
作者简介
李立建,男,1986年出生,博士,副教授,硕士研究生导师。主要研究方向为机器人机构学和柔性并联多维力传感器。E-mail:lljianzhu@126.com;姚建涛,男,1980年出生,教授,博士研究生导师。主要研究方向为机器人机构理论和仿生与软体机器人理论及应用。E-mail:jtyao@ysu.edu.cn。
