一种低耦合高精度六维力传感器设计及应用
作者:
作者单位:

1.南京航空航天大学机电学院,南京 210016;2.南京神源生智能科技有限公司,南京 211215

作者简介:

通讯作者:

戴振东,男,教授,博士生导师,E-mail: zddai@nuaa.edu.cn。

中图分类号:

TP212

基金项目:

国家重点研发计划(2018YFB1305600)。


Design and Application of High-Precision Loosely Coupled Six-Axis Force Sensor
Author:
Affiliation:

1.College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics & Astronautics, Nanjing 210016, China;2.Nanjing Bio-inspired Intelligent Technology Co.Ltd., Nanjing 211215, China

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    摘要:

    多维力传感技术是工业智能化发展重要支撑技术之一。本文研制了一种中等量程的轮辐构型的电阻应变式六维力传感器,其量程为:切向力±300 N、法向力±600 N、力矩±25 N·m。传感器外圈和中心台通过4组特设的应变梁连接。每组应变梁包括一对处于两侧的“L”形梁及一根居中的扁平梁,能够从结构上降低维间耦合。进一步通过贴片及组桥方案设计从理论上消除了各方向间的耦合。静态标定结果表明,该传感器的维间耦合小于1%、测量精度不低于1‰、过载系数超过300%、非线性度低于0.3%。瞬态冲击法动态测试表明,该传感器具有较好的动态性能。本文将该六维力传感器用于机械臂抛光打磨过程的力学测量和反馈控制,取得了优异的效果,证实了传感器的可用性和优越性。该传感器将促进中国六维力测试技术发展、助力现代工业智能化进程。

    Abstract:

    Multi-axis force sensing is of great significance for the intelligent industries. This paper proposes a kind of strain-gauge type six-axis force sensor which is capable of measuring shear force for ±300 N, normal force for ±600 N and torque for ±25 N·m. The sensor shows a spoke shape and contains four groups of specially designed strain beams that connect the central platform and the outer support. Each group of strain beams contains a pair of L-shape beams at the two sides and a flat beam at the middle. Such kind of combination can reduce the coupling largely. By selecting proper positions for the strain gauges and designing measuring bridges, we further theoretically eliminated the coupling. Static calibration indicat that the senor possesses a precision higher than 1‰ and a safety factor larger than 300%, with the nonlinearity smaller than 0.3% and the coupling less than 1%. Test results of its response to a pulse input also confirm that the sensor has good dynamic properties. Implementation of the sensor in a robotic also further demonstrated the excellence of the sensor. This six-axes sensor will greatly advance the multi-dimensional force testing technology and play a great role in accelerating the intelligentization of modern industries.

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引用本文

宋逸,段晋军,相立峰,李晨,姚举禄,戴振东.一种低耦合高精度六维力传感器设计及应用[J].南京航空航天大学学报,2022,54(3):473-480

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历史
  • 收稿日期:2020-06-02
  • 最后修改日期:2020-12-09
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  • 在线发布日期: 2022-06-05
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