特种六分力传感器设计原理研究
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摘要
六分力传感器能同时检测到三维空间的全力信息,是随着机器人技术的发展而出现的一种新传感器。本文主要围绕复杂环境下六分力传感器系统设计原理的若干关键技术和实验校准等问题进行深入研究,并研制出“气动力—惯性力复合离心试验”用六分力传感器系统,完成的主要工作如下:
1、系统地总结分析了六分力传感器的概念原理、特点及工程应用,重点回顾了六分力传感器及其关键技术的国内外研究状况。并从测量系统理论的角度,分析了六分力传感器系统的数学理论基础。
2、在对比分析六种可选用的测力敏感元件方案的基础上,对并联结构和盒式结构六分力传感器分别进行总体方案分析,并重点提出了一种新型八正交梁结构六分力传感器系统的总体设计方案,同时详尽阐述了其结构设计、工艺、布片组桥及测量原理等关键技术。
3、针对维间耦合严重制约着传感器测量精度的问题,对多分力传感器解耦算法进行全面系统分析,分别针对静态解耦和动态解耦,提出几种有效的解耦方法及策略。
4、以并联结构六分力传感器为研究对象,推导出其主要性能指标的解析解,分析了主要性能指标的性能椭球特性;引入性能影响因子,考察了无量纲化的关键结构参数与主要性能指标的量化关系,绘制出主要性能指标的二维性能图谱;并在此基础上提出了面向性能指标(DFP)的传感器设计策略。
针对盒式结构六分力传感器的关键部件——力敏元件与弹性连杆进行优化设计,提出了一种基于正交试验和APDL的结构优化方法,并采用该方法实现了力敏元件的优化设计,同时推导出新型柔性铰链的柔度解析计算公式,并考察了关键结构参数对新型柔性铰链柔度性能的影响规律。
利用有限元仿真软件,对新研制八正交梁结构六分力传感器进行静力学特性分析及模态分析;以维间耦合最小为目标函数建立了其结构优化数学模型,实现了结构尺寸优化;并考察了结构参数变化影响固有频率的规律。完成了新型六分力传感器的动态特性仿真研究,获取了其受到阶跃或冲击载荷后的动态响应,提取了其动态性能指标值。
5、建立了六分力传感器性能的通用评价指标体系模型和AHP-FUZZY评价模型,为六分力传感器的性能综合评价提供了理论依据,并给出了新型六分力传感器系统的评价实例,评价结果良好;同时建立了并联结构六分力传感器评价指标体系。
6、完成了新型八正交梁结构六分力传感器的静态校准和准动态实验,实验结果表明:传感器的精度、准度、线性度等比较理想,达到了复合离心试验的使用要求。
As a new-type sensor, six-component force sensor can measure the three components of force and the three components of torque, which arises by the development of robot technology. The whole paper aims to study profoundly some key technology of design principle of six- component force sensor system and calibration experiments. And the six-component force sensor system designed for the compound test on the aerodynamic force and inertia force is developed in this paper. The main work is as follows.
Firstly, the concepts and principles, characteristics, and engineering applications of six-axis force sensor are summarized systematically. The state-of-art and key technologies about the six- component force sensor are also included. And the theoretical bases of six-component force sensor are studied with the measurement system theory.
Secondly, the overall schemes of six- component force sensor in Stewart structure and six-component force sensor in cartridge structure are analyzed after selecting the optimal scheme from six optional schemes of force sensing element. The general design scheme of sensor system in a novel eight-orthogonal-beam structure is present chiefly, and structural design, process, bending the strain gauge, bridge design; measuring principles of the sensor are formulated in detail.
Thirdly, decoupling algorithms of multi- component force sensor are investigated profoundly against the problem that the measuring precision of sensor can be confined by the couple interference. The decoupling could be divided into static decoupling and dynamic decoupling. Several effective decoupling strategies and methods are provided in this thesis.
Fourthly, six-component force sensor in parallel structure is studied in detail. The analytic solutions of main performance index are derived. Performance ellipsoid characters of main performance index are analyzed.
The quantum relations between dimensionless key structural parameters and main performance index are explored after introducing the performance impact influence factors. Two-dimensional performance atlases of main performance index are drawn. And the performance-oriented design strategy is advanced.
Force sensing elements and elastic link rods are the key parts of six-component force sensor in cartridge structure. A structural optimization method based on orthogonal test and APDL is introduced in order to optimum design the two parts, the optimum design for force sensing element is implemented adopting the method. And the compliance formulas of the novel flexure hinge are derived. The laws on key structural parameters influencing the compliance performance of novel flexure hinge are studied.
Static analysis and modal analysis of novel six-component force sensor are preceded utilizing the finite element simulation software. Least couple is used as objective function to build the mathematics model for structural optimization, and structural sizes optimization are implemented. The laws on the change of structural parameters influencing the natural frequency are analyzed. Study on the dynamic behaviors of novel six-component force sensor is realized, in this way, dynamic responses of system suffered by step or impulse load could be obtained. The dynamic performance indexes are achieved at last.
Fifthly, the universal evaluation index architecture model and AHP-FUZZY evaluation model are built, which supply theoretical basis for overall evaluation of six-component force sensor. And the evaluation example on novel sensor system is presented, which indicates the evaluation result is good. Besides, the evaluation index architecture of six-component force sensor in parallel structure is also established.
Sixthly, static calibration experiments and quasi-dynamic experiments of novel six-component force sensor are completed in the end. Experiments results illustrate the precision, accuracy; linearity and other performance of sensor are relative perfect, which reach the operating requirements of compound centrifugal test.
1、系统地总结分析了六分力传感器的概念原理、特点及工程应用,重点回顾了六分力传感器及其关键技术的国内外研究状况。并从测量系统理论的角度,分析了六分力传感器系统的数学理论基础。
2、在对比分析六种可选用的测力敏感元件方案的基础上,对并联结构和盒式结构六分力传感器分别进行总体方案分析,并重点提出了一种新型八正交梁结构六分力传感器系统的总体设计方案,同时详尽阐述了其结构设计、工艺、布片组桥及测量原理等关键技术。
3、针对维间耦合严重制约着传感器测量精度的问题,对多分力传感器解耦算法进行全面系统分析,分别针对静态解耦和动态解耦,提出几种有效的解耦方法及策略。
4、以并联结构六分力传感器为研究对象,推导出其主要性能指标的解析解,分析了主要性能指标的性能椭球特性;引入性能影响因子,考察了无量纲化的关键结构参数与主要性能指标的量化关系,绘制出主要性能指标的二维性能图谱;并在此基础上提出了面向性能指标(DFP)的传感器设计策略。
针对盒式结构六分力传感器的关键部件——力敏元件与弹性连杆进行优化设计,提出了一种基于正交试验和APDL的结构优化方法,并采用该方法实现了力敏元件的优化设计,同时推导出新型柔性铰链的柔度解析计算公式,并考察了关键结构参数对新型柔性铰链柔度性能的影响规律。
利用有限元仿真软件,对新研制八正交梁结构六分力传感器进行静力学特性分析及模态分析;以维间耦合最小为目标函数建立了其结构优化数学模型,实现了结构尺寸优化;并考察了结构参数变化影响固有频率的规律。完成了新型六分力传感器的动态特性仿真研究,获取了其受到阶跃或冲击载荷后的动态响应,提取了其动态性能指标值。
5、建立了六分力传感器性能的通用评价指标体系模型和AHP-FUZZY评价模型,为六分力传感器的性能综合评价提供了理论依据,并给出了新型六分力传感器系统的评价实例,评价结果良好;同时建立了并联结构六分力传感器评价指标体系。
6、完成了新型八正交梁结构六分力传感器的静态校准和准动态实验,实验结果表明:传感器的精度、准度、线性度等比较理想,达到了复合离心试验的使用要求。
As a new-type sensor, six-component force sensor can measure the three components of force and the three components of torque, which arises by the development of robot technology. The whole paper aims to study profoundly some key technology of design principle of six- component force sensor system and calibration experiments. And the six-component force sensor system designed for the compound test on the aerodynamic force and inertia force is developed in this paper. The main work is as follows.
Firstly, the concepts and principles, characteristics, and engineering applications of six-axis force sensor are summarized systematically. The state-of-art and key technologies about the six- component force sensor are also included. And the theoretical bases of six-component force sensor are studied with the measurement system theory.
Secondly, the overall schemes of six- component force sensor in Stewart structure and six-component force sensor in cartridge structure are analyzed after selecting the optimal scheme from six optional schemes of force sensing element. The general design scheme of sensor system in a novel eight-orthogonal-beam structure is present chiefly, and structural design, process, bending the strain gauge, bridge design; measuring principles of the sensor are formulated in detail.
Thirdly, decoupling algorithms of multi- component force sensor are investigated profoundly against the problem that the measuring precision of sensor can be confined by the couple interference. The decoupling could be divided into static decoupling and dynamic decoupling. Several effective decoupling strategies and methods are provided in this thesis.
Fourthly, six-component force sensor in parallel structure is studied in detail. The analytic solutions of main performance index are derived. Performance ellipsoid characters of main performance index are analyzed.
The quantum relations between dimensionless key structural parameters and main performance index are explored after introducing the performance impact influence factors. Two-dimensional performance atlases of main performance index are drawn. And the performance-oriented design strategy is advanced.
Force sensing elements and elastic link rods are the key parts of six-component force sensor in cartridge structure. A structural optimization method based on orthogonal test and APDL is introduced in order to optimum design the two parts, the optimum design for force sensing element is implemented adopting the method. And the compliance formulas of the novel flexure hinge are derived. The laws on key structural parameters influencing the compliance performance of novel flexure hinge are studied.
Static analysis and modal analysis of novel six-component force sensor are preceded utilizing the finite element simulation software. Least couple is used as objective function to build the mathematics model for structural optimization, and structural sizes optimization are implemented. The laws on the change of structural parameters influencing the natural frequency are analyzed. Study on the dynamic behaviors of novel six-component force sensor is realized, in this way, dynamic responses of system suffered by step or impulse load could be obtained. The dynamic performance indexes are achieved at last.
Fifthly, the universal evaluation index architecture model and AHP-FUZZY evaluation model are built, which supply theoretical basis for overall evaluation of six-component force sensor. And the evaluation example on novel sensor system is presented, which indicates the evaluation result is good. Besides, the evaluation index architecture of six-component force sensor in parallel structure is also established.
Sixthly, static calibration experiments and quasi-dynamic experiments of novel six-component force sensor are completed in the end. Experiments results illustrate the precision, accuracy; linearity and other performance of sensor are relative perfect, which reach the operating requirements of compound centrifugal test.
引文
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