机器人2012，Vol.34Issue(4)：393-398,6.DOI:10.3724/SP.J.1218.2012.00393
双层预紧式6维力传感器预紧力对精度影响分析
Influence of the Pre-tightening Force on Accuracy of the Double-layer Pre-stressed Six-axis Force Sensor
摘要
Abstract
For the disadvantages of the six-axis force sensor based on the classical Stewart structure, a double-layer pre-stressed six-axis force sensor is designed and manufactured, and accuracy analysis and experimental research are carried out. Firstly, structure characteristics of the six-axis force sensor are introduced. The mathematical model of the sensor and the representation of the pre-tightening force are established by using screw theory. In order to improve the measurement accuracy, a method for reducing the error of the prc-tightening branch's structural deformation by increasing the pre-tightening force is proposed on the basis of analyzing the structure of pre-tightening branch. Secondly, the structural deformation of pre-tightening branch under different pre-tightening forces is simulated by FEM (finite element method). Finally, the sensor prototype is manufactured and the calibration system is developed. The calibration experiment is performed under different pre-tightening forces. It is shown that the maximum Error I and Error II are reduced from 2.73%, 2.43% to 0.41%, 0.64% of the full scales respectively by increasing the pre-tightening force. The experiment results indicate that the error caused by the pie-tightening branch's structural deformation is reduced effectively and the measuring accuracy of the sensor is improved by increasing the pre-tightening force, which verifies the correctness of the theoretical analysis and simulation.关键词
6维力传感器/双层预紧/预紧力/结构变形/精度Key words
six-axis force sensor/ double-layer pre-stressed/ pre-tightening force/ structural deformation/ accuracy分类
信息技术与安全科学引用本文复制引用
王志军,侯雨雷,姚建涛,叶冬,赵永生..双层预紧式6维力传感器预紧力对精度影响分析[J].机器人,2012,34(4):393-398,6.基金项目
国家自然科学基金资助项目(50975245) （50975245）
河北省自然科学基金资助项目(E2011203184) （E2011203184）
秦皇岛市科学技术研究与发展计划资助项目(201001A103). （201001A103）
