机械解耦自标定并联六维力传感器设计及仿真

中国机械工程

机械解耦自标定并联六维力传感器设计及仿真

赵延治1,2;焦雷浩1,2;牛智1,2;鲁超1,2;赵铁石1,2

1.燕山大学河北省并联机器人与机电系统实验室，秦皇岛,河北,066004
2.先进锻压成形技术与科学教育部重点实验室（燕山大学），秦皇岛,河北,066004

出版日期:2017-04-10 发布日期:2017-04-07
基金资助:
国家自然科学基金资助项目(51105322);河北省自然科学基金资助项目(E2014203176);
河北省高等学校科学技术研究青年基金资助项目(QN2015040);
中国博士后科学基金资助项目（2016M590212）

Design and Simulation of Mechanical Decoupling Self-calibration Parallel Six Dimensional Force Sensors

ZHAO Yanzhi1,2;JIAO Leihao1,2;NIU Zhi1,2;LU Chao1,2;ZHAO Tieshi1,2

1.Key Laboratory of Parallel Robot and Mechatronic System of Hebei Province,Yanshan University,Qinhuangdao,Hebei,066004
2.Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education of China,Yanshan University,Qinhuangdao,Hebei,066004

Online:2017-04-10 Published:2017-04-07

摘要/Abstract

摘要： 针对传统多维力传感器研制后均需繁冗的加载标定这一现状，提出了多维力传感器“自标定”设计理念，通过钢球滚动机械解耦，设计了一种弱耦合全压向力自标定正交并联六维力传感器结构。论证了该六维力传感器的滚动解耦原理，分析了其自标定原理。基于螺旋理论建立了该六维力传感器理想数学模型，计算得到其一阶静力影响系数矩阵。考虑分支弹性变形，基于高次超静定结构力学求解原理，对该六维力传感器进行了受力分析与仿真计算，结合数值算例论证了其自标定特性，从而为该新型六维力传感器的研制奠定基础。

关键词: 六维力传感器, 正交并联, 机械解耦, 自标定

Abstract: To avoide the present situations of the heavy loading calibration of traditional multi-dimensional force sensors, a self-calibration design concept of multi-dimensional force sensors was proposed, the weak coupling full thrust force self-calibration orthogonal parallel six dimensional force sensor structure was design which might realize mechanical decoupling by the rolling of the steel balls. The rolling decoupling principles of the six dimensional force sensors were demonstrated, and then the self-calibration principles of the six dimensional force sensors were demonstrated. An ideal mathematical model of the six dimensional force sensors was established based on the screw theory, and the first order static influence coefficient matrix was obtained. The force analysis and simulation of the six dimensional force sensor were carried out with considering the elastic deformations based on the mechanics solution principles of high-order statically indeterminate structure, and the self-calibration characteristics were proved by combining the numerical examples, which sets the development foundation of the novel six dimensional force sensors.

Key words: six dimensional force sensor, orthogonal parallel, mechanical decoupling, self-calibration

中图分类号:

TH112

赵延治, 焦雷浩, 牛智, 鲁超, 赵铁石, . 机械解耦自标定并联六维力传感器设计及仿真[J]. 中国机械工程.

ZHAO Yanzhi, JIAO Leihao, NIU Zhi, LU Chao, ZHAO Tieshi, . Design and Simulation of Mechanical Decoupling Self-calibration Parallel Six Dimensional Force Sensors[J]. China Mechanical Engineering.

参考文献

[1]钟晓玲，张晓霞. 面向机器人的多维力/力矩传感器综述[J]. 传感器与微系统，2015，34(5)：1-4.
ZHONG Xiaoling，ZHANG Xiaoxia. Review of Multi-dimensions Force/Torque Sensor for Robots[J]. Transducer and Microsystem Technologies, 2015, 34(5):1-4.
[2]戈瑜，吴仲城，葛运建.面向应用需求的力/力矩传感器技术发展动向[J].机器人，2003,25(2):188-192
GE Yu, WU Zhongcheng, GE Yunjian. State of Arts and Development Trends toward Application Oriented Force/Torque Sensors[J]. Robot, 2003, 25(2):188-192.
[3]KANG Chulgoo. Closed-form Force Sensing of a 6-six Force Transducer Based on the Stewart Platform[J]. Sensors and Actuators A: Physical, 2001, 90:31-37.
[4]RANGANATH R, NAIR P S, MRUTHYUNJAYA T S, et al. Aforce-torque Sensor Based on a Stewart Platform in a Near-singular Configuration [J]. Mechanism and Machine Theory, 2004, 39(9): 971-998.
[5]GAO F, ZHANG Y, ZHAO X C, et al. The Design and Applications of F/T Sensor Based on Stewart Platform[C]//Proceedings of the 12th IFToMM World Congress. Besancon, France, 2007: 11-16.
[6]GAO Feng, JIN Zhenlin. Development of a New Type of 6-DOF Parallel Micro-manipulator and Its Control System[C]// Proc. IEEE Int. Conf. Robot. Intell. Syst. Signal Process. Changsha, 2003:715-720.
[7]王洪光，赵明扬，房立金，等. 一种Stewart 结构六维力/力矩传感器参数辨识研究[J]. 机器人，2008，30(6)：548-553.
WANG Hongguang, ZHAO Mingyang, FANG Lijin, et al. On Parameter Identification of a Stewart Platform Based Six-component Force/Torque Sensor[J]. Robot, 2008, 30(6):548-553.
[8]贾振元，李映君，张军，等. 并联式轴用压电六维力/力矩传感器[J]. 机械工程学报，2010 46(11)：62-68.
JIA Zhenyuan, LI Yingjun, ZHANG Jun, et al. Axial Piezoelectric 6-component Force/Torque Sensor Based on Parallel Structure[J]. Journal of Mechanical Engineering, 2010, 46(11): 62-68.
[9]JIA Zhenyuan, LIN Sheng, LIU Wei. Measurement Method of Six-axis Load Sharing Based on the Stewart Platform[J]. Measurement, 2010, 43:329-335.
[10]LI Yingjun, SUN Baoyuan, ZHANG Jun, et.al. A Novel Parallel Piezoelectric Six-axis Heavy Force/Torque Sensor[J]. Measurement, 2009,42:730-736.
[11]王志军，姚建涛，吴遥，等. 双层预紧式六维力传感器及其静态标定[J]. 机械工程学报， 2013， 49(3)：24-30.
WANG Zhijun, YAO Jiantao, WU Yao， et.al. Dual Layers Pre-stressed Six-axis Force Sensor and Its Static Calibration[J]. Journal of mechanical engineering， 2013, 49(3):24-30.
[12]ZHAO Yanzhi, LU Chao, ZHAO Tieshi. Simulate Calculation of a Novel Over-constrained Parallel Six Component Force /Torque Sensor [J]. Machine Design and Research, 2013, 29(4): 22-29.
[13]黄真，赵永生，赵铁石. 高等空间机构学[M]. 2版. 北京：高等教育出版社，2006: 296.
HUANG Zhen, ZHAO Yongsheng, ZHAO Tieshi. Advanced Spatial Mechanism[M]. 2ed. Beijing: Higher Education Press, 2006: 296.
[14]钱令希. 超静定与静定结构学[M]. 北京：科学出版社，2011：5-6.
QIAN Lingxi. Statically Indeterminate and Statically Determinate Structures[M]. Beijing: Science Press, 2011：5-6.