Strain Analysis of Six-Axis Force/Torque Sensors Based on Analytical Method
Strain Analysis of Six-Axis Force/Torque Sensors Based on Analytical Method
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DOI：
10.1109/jsen.2017.2703160
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发表时间：
2017-07-15
影响因子：
4.3
通讯作者：
Liu, Liang
中科院分区：
文献类型：
--
作者：
Wang, Yingjian;Zuo, Guokun;Liu, Liang
合理的应力应变分布是六维力/力矩传感器设计的关键。为了改善应变分布，需要找到影响应力和应变分布的具体参数。利用有限元分析仿真工具，如有限元分析仿真工具，可以快速得到六维力/扭矩传感器弹性梁上应力应变的数值解，但无法得到影响应力应变分布的具体参数。提出了一种新型的小尺寸、横梁结构的六维力/力矩传感器方案。然后，建立了基于Timoshenko梁理论的力学模型和解析方程，得到了应变的解析解。结果表明，解析解与数值解吻合较好，说明该分析方法是可行的。最后，分析了影响应变值和测量精度的主要参数。分析结果表明，在给定足够的约束条件下，可以根据影响应力应变分布的参数对十字梁结构的六维力/力矩传感器进行优化设计。
Reasonable stress and strain distribution are essential for the design of six-axis force/torque sensors. In order to improve the strain distribution, the specific parameters which affect stress and strain distribution need to be found. The numerical solutions of stress and strain on the elastic beam of six-axis force/torque sensors can be quickly obtained by finite element analysis simulation tool, such as ANSYS, but the specific parameters which affect stress and strain distribution cannot be achieved. In this paper, a novel six-axis force/torque sensor scheme with small size and cross beam structure was presented. Then, the mechanical model and analytic equations based on Timoshenko beam theory were established to obtain the analytical solutions of strain. The comparison shows that the analytical solutions and numerical solutions are in good agreement, which indicates that the analytical method is feasible. Finally, the main parameters which affect the strain value and the measure accuracy were analyzed. The analysis results show that the design of six-axis force/torque sensors with cross beam structure can be optimized according to the parameters that affect the stress and strain distribution, if sufficient restrictions are offered.