双层预紧式6维力传感器预紧力对精度影响分析

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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.. WANG Zhijun, HOU Yulei, YAO Jiantao, YE Dong, ZHAO Yongsheng. Influence of the Pre-tightening Force on Accuracy of the Double-layer Pre-stressed Six-axis Force Sensor. ROBOT, 2012, 34(4): 393-398..

摘要

针对传统Stewart结构6维力传感器性能的不足，设计并研制了一种双层预紧式6维力传感器，并进行了精度分析与实验研究．首先，介绍了该6维力传感器的结构特点，基于螺旋理论建立了其数学模型以及预紧力的数学描述形式．为了提高传感器的测量精度，在分析预紧支路结构的基础上，通过增大预紧力来降低由于预紧支路结构变形产生的误差．其次，对不同预紧力下预紧支路的结构变形进行了有限元仿真．最后研制并开发了6维力传感器样机和标定系统，进行了不同预紧力情况下的标定实验．通过增大预紧力，传感器的最大Ⅰ类误差和Ⅱ类误差分别由满量程的2.73%、2.43%降低到0.41%、0.64%．实验结果表明，增大预紧力有效地降低了预紧支路变形带来的测量误差，提高了传感器的测量精度，从而验证了理论分析与仿真的正确性．

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	王志军
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关键词 ： 6维力传感器, 双层预紧, 预紧力, 结构变形, 精度

Abstract：

For the disadvantages of the six-axis force sensor based on the classical Stewart structure, a double-layer prestressed 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 pre-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 pre-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.

Key words： six-axis force sensor double-layer pre-stressed pre-tightening force structural deformation accuracy

收稿日期: 2011-11-19 录用日期: 2012-03-19

:	TP212.1
	TH823

基金资助:

国家自然科学基金资助项目（50975245）；河北省自然科学基金资助项目（E2011203184）；秦皇岛市科学技术研究与发展计划资助项目（201001A103）

通讯作者: 赵永生 E-mail: yszhao@ysu.edu.cn

作者简介: 王志军（1983-），男，博士生．研究领域：并联机器人技术，6维力传感器技术．
侯雨雷（1980-），男，博士，副教授．研究领域：并联机构学，力传感器技术及人形机器人仿生．
姚建涛（1980-），男，博士，副教授．研究领域：并联机器人，多维力传感器理论及应用．

链接本文:

https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2012/V34/I4/393

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