大量程柔性铰并联六维力传感器基础理论与系统研制
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摘要
六维力传感器能够同时感知三维坐标空间的全力信息。近年来,应用于火箭发动机推力试验、飞机试飞试验、航天器对接模拟试验及风洞试验等领域的大量程六维力传感器,成为急需的高科技产品。为了克服传统铰链的摩擦对大量程六维力传感器测量精度的制约,本课题对大量程柔性铰并联六维力传感器进行了较为系统的研究。主要内容如下:
(1)基于螺旋理论,对Stewart平台六维力传感器进行了静力分析,推导出Stewart平台六维力传感器静力映射矩阵解析式,讨论了面向任务的六维力传感器基准坐标系选取的原则。
(2)在六维力传感器性能指标定义的基础上,利用空间模型理论,绘制了传感器各性能指标图谱,分析了各性能指标与传感器结构参数间的变化规律,建立了相应目标函数,对六维力传感器进行了优化设计,得到了综合性能优良的传感器结构设计参数。
(3)基于影响系数和虚功原理,提出了一种建立并联机构连续刚度模型的一般方法。结合刚度矩阵瑞利商定义了并联机构连续刚度性能判定指标,对柔性铰六维力传感器刚度性能进行了分析,探讨了传感器机构的方向刚度特性。
(4)基于李群李代数SE(3)/se(3)的伴随矩阵,推导了六自由度并联机构动力学的线性-双线性公式,建立了六自由度并联机构的动力学模型。
(5)将柔性铰链应用到大量程并联六维力传感器结构设计,设计了传感器各部分结构并选取了材料,基于有限元技术对方案整体结构进行了受力及其模态分析,研制出了大量程柔性铰并联六维力传感器样机。
(6)设计了大量程六维力传感器标定装置机械结构与液压动力单元,研制出基于液压系统原理的大吨位六维力加载装置,搭建了六维力传感器信号采集处理系统,开发了六维传感器标定及测量软件,研制出大量程柔性铰并联六维力传感器标定系统。
本研究为开展大量程柔性铰六维力传感器静、动态标定实验研究奠定了基础,对大型六维力传感器的研发具有重要的指导意义。
The six-component force/torque sensor can measure the force and moment information together in three-dimension coordinate space. Recently, the wide-range six-component force/torque sensor becomes the urgent need high-tech product, which can be used in thrust testing of rocket engines, flight testing of airplane, testing of spacecraft docking simulation and wind tunnel. In order to overcome obstacle of traditional joints’friction to precision of wide range six-component force sensor, this paper presents the relative systematic research on the wide range parallel six-component force sensor with flexible joints. The main research contents are as follows:
(1)Based on the screw theory, the statics force of the Stewart six-component force sensor is analyzed, and the static mapping matrices expression of the Stewart platform six-component force sensor is derived. The selection principle of the task-oriented six-component force sensor base coordinate system is discussed.
(2)Based on the definition of six-component force sensor’s performance evaluation indices and with the theory of the space physical model, the performance indices atlases of sensor are plotted. The law of the indices following the changing of force sensor structure parameters is summarized. With the built optimization objective function, six-component force sensor is optimized design, and sensor structure design parameters with integration choiceness performance are obtained.
(3)Based on influence coefficient method and principle of virtual work, continuous stiffness nonlinear mapping general model of spatial parallel mechanism is presented. Combining Rayleigh quotient of the continuous stiffness matrix, the performance index k used to estimate the spacial parallel mechanism continuous stiffness is defined. The stiffness performance of the six-component force sensor with flexible joints is analyzed, and the directional stiffness characteristic is discussed.
(4)Based on the adjoint representation on lie group and lie algebra SE(3)/se(3), the linear-bilinear formulation of six degree-of-freedom parallel mechanisms is deduced, and the dynamic functional expressions of six degree-of-freedom parallel mechanisms are developed.
(5)The flexible joints are introduced into the wide-range six-component force sensor structure design. The structure of sensor parts are designed, and the materials are selected. Force and mode of the whole sensor structure scheme are analyzed. The prototype model of the wide-range six-component force sensor with flexible joints is designed and developped.
(6)The machine structure and the hydraulic power unit of wide range six-component force sensor calibration device are designed, and the big tonnage six-component force loading device with hydraulic system is developped. The signal acquisition and processing hardware system of six-component force sensor is built, and the calibration and measure software is developped. The calibration system of wide range six-component force sensor with flexible joints is developped.
It lays a solid foundation for static and dynamic calibration experiment research of wide range six-component force sensor with flexible joints, and has important guidance significance for development of sizable six-component force sensor
(1)基于螺旋理论,对Stewart平台六维力传感器进行了静力分析,推导出Stewart平台六维力传感器静力映射矩阵解析式,讨论了面向任务的六维力传感器基准坐标系选取的原则。
(2)在六维力传感器性能指标定义的基础上,利用空间模型理论,绘制了传感器各性能指标图谱,分析了各性能指标与传感器结构参数间的变化规律,建立了相应目标函数,对六维力传感器进行了优化设计,得到了综合性能优良的传感器结构设计参数。
(3)基于影响系数和虚功原理,提出了一种建立并联机构连续刚度模型的一般方法。结合刚度矩阵瑞利商定义了并联机构连续刚度性能判定指标,对柔性铰六维力传感器刚度性能进行了分析,探讨了传感器机构的方向刚度特性。
(4)基于李群李代数SE(3)/se(3)的伴随矩阵,推导了六自由度并联机构动力学的线性-双线性公式,建立了六自由度并联机构的动力学模型。
(5)将柔性铰链应用到大量程并联六维力传感器结构设计,设计了传感器各部分结构并选取了材料,基于有限元技术对方案整体结构进行了受力及其模态分析,研制出了大量程柔性铰并联六维力传感器样机。
(6)设计了大量程六维力传感器标定装置机械结构与液压动力单元,研制出基于液压系统原理的大吨位六维力加载装置,搭建了六维力传感器信号采集处理系统,开发了六维传感器标定及测量软件,研制出大量程柔性铰并联六维力传感器标定系统。
本研究为开展大量程柔性铰六维力传感器静、动态标定实验研究奠定了基础,对大型六维力传感器的研发具有重要的指导意义。
The six-component force/torque sensor can measure the force and moment information together in three-dimension coordinate space. Recently, the wide-range six-component force/torque sensor becomes the urgent need high-tech product, which can be used in thrust testing of rocket engines, flight testing of airplane, testing of spacecraft docking simulation and wind tunnel. In order to overcome obstacle of traditional joints’friction to precision of wide range six-component force sensor, this paper presents the relative systematic research on the wide range parallel six-component force sensor with flexible joints. The main research contents are as follows:
(1)Based on the screw theory, the statics force of the Stewart six-component force sensor is analyzed, and the static mapping matrices expression of the Stewart platform six-component force sensor is derived. The selection principle of the task-oriented six-component force sensor base coordinate system is discussed.
(2)Based on the definition of six-component force sensor’s performance evaluation indices and with the theory of the space physical model, the performance indices atlases of sensor are plotted. The law of the indices following the changing of force sensor structure parameters is summarized. With the built optimization objective function, six-component force sensor is optimized design, and sensor structure design parameters with integration choiceness performance are obtained.
(3)Based on influence coefficient method and principle of virtual work, continuous stiffness nonlinear mapping general model of spatial parallel mechanism is presented. Combining Rayleigh quotient of the continuous stiffness matrix, the performance index k used to estimate the spacial parallel mechanism continuous stiffness is defined. The stiffness performance of the six-component force sensor with flexible joints is analyzed, and the directional stiffness characteristic is discussed.
(4)Based on the adjoint representation on lie group and lie algebra SE(3)/se(3), the linear-bilinear formulation of six degree-of-freedom parallel mechanisms is deduced, and the dynamic functional expressions of six degree-of-freedom parallel mechanisms are developed.
(5)The flexible joints are introduced into the wide-range six-component force sensor structure design. The structure of sensor parts are designed, and the materials are selected. Force and mode of the whole sensor structure scheme are analyzed. The prototype model of the wide-range six-component force sensor with flexible joints is designed and developped.
(6)The machine structure and the hydraulic power unit of wide range six-component force sensor calibration device are designed, and the big tonnage six-component force loading device with hydraulic system is developped. The signal acquisition and processing hardware system of six-component force sensor is built, and the calibration and measure software is developped. The calibration system of wide range six-component force sensor with flexible joints is developped.
It lays a solid foundation for static and dynamic calibration experiment research of wide range six-component force sensor with flexible joints, and has important guidance significance for development of sizable six-component force sensor
引文
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