引用本文: 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[J]. ROBOT, 2012, 34(4): 393-398.
 Citation: 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[J]. ROBOT, 2012, 34(4): 393-398.

## Influence of the Pre-tightening Force on Accuracy of the Double-layer Pre-stressed Six-axis Force Sensor

• 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．

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.

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