传感技术学报2026，Vol.39Issue(4)：753-761,9.DOI:10.3969/j.issn.1004-1699.2026.04.008
基于IPSO-FEM的柔性六维力传感器多目标优化
Multi-Objective Optimization of Flexible Six-Axis Force/Torque Sensor Based on IPSO-FEM
摘要
Abstract
Six-axis force/torque sensor is a measuring device that is the most difficult to be developed in the field of robot force percep-tion because it includes a number of design indicators that restrict each other.One of the core issues of development is to solve the sen-sor structure design and optimization problems.Theoretical analysis is combined with experiment to optimize a flexure six-axis force/torque sensor,whose analytical expression of stiffness model is difficult to be solved.Firstly,the parameter optimization model of the flexible six-axis force/torque sensor is established and the influence of structural parameters on the objective function is also analyzed.Secondly,combined with nonlinear inertia weight coefficient,nonlinear learning factors and particle mutation operation,PSO is improved.Based on this,the optimization framework of the flexure six-axis force/torque sensor is established by integrating SOLIDWORKS,ABAQUS and MATLAB with ISIGHT.The force/torque sensitivity,isotropy and the condition number of the calibration matrix are con-sidered as optimization objectives and the main structural parameters are taken as design variables.Under the constraint conditions of stiffness and strength,the structure optimization of the flexure six-axis force/torque sensor is realized and the optimal solution is ob-tained through the fuzzy set theory.The simulation performance of the sensor before and after optimization is compared and analyzed.Fi-nally,the validity of the optimization method is verified through the prototype experiment and decoupling analysis.The results show that the comprehensive performance of the flexure six-axis force/torque sensor is significantly improved and using the current optimization method can effectively solve the problem of six-axis force/torque sensor structure optimization caused by the inability to establish an ac-curate stiffness model.关键词
六维力传感器/粒子群算法/有限元法/参数优化/灵敏度/刚度/各向同性Key words
six-axis force/torque sensor/particle swarm optimization/finite element method/parameter optimization/sensitivity/stiffness/isotropy分类
信息技术与安全科学引用本文复制引用
王晨,高波,姜鑫,王伟,秦洪浪..基于IPSO-FEM的柔性六维力传感器多目标优化[J].传感技术学报,2026,39(4):753-761,9.基金项目
陕西省教育厅科学研究计划项目(23JK0310) （23JK0310）
陕西工业职业技术大学自然科学重点项目(2024YKZD-002) （2024YKZD-002）
