软囊式水下力传感器的力学特性与设计原则.PDFVIP

第 45 卷第 10 期 机 械 工 程 学 报 Vol.45 No.10 2009 年 10 月 JOURNAL OF MECHANICAL ENGINEERING Oct. 2 0 0 9 DOI ：10.3901/JME.2009.10.015 软囊式水下力传感器的力学特性与设计原则* 王 勇 1 刘正士 1 陈恩伟 1 陆益民 1 葛运建 2 (1. 合肥工业大学机械与汽车工程学院 合肥 230009 ； 2. 中国科学院合肥智能机械研究所 合肥 230031) 摘要：以水下机器人用多轴力传感器的压力平衡结构为研究对象，基于液体的可压缩性，根据弹性薄壳力学分析，选择长壳 理论研究软囊变形，并对其进行修正。指出软囊变形所引起的额外轴向力对设计和使用水下力传感器是不可忽视的，提出软 囊式压力平衡传感器内外压力差的迭代算法，推导出软囊式压力平衡的内外压差、额外轴向力及相关公式。分析压力差在传 感器上产生的额外轴向力及有关的影响因素，总结软囊式压力平衡能够胜任大压力平衡，且对大压力下的微小压力具有极强 的平衡能力的特点。得出软囊式水下力传感器结构应紧凑、长径比应小、壁厚应尽可能小、内部存油液应少的设计原则。 关键词：水下机器人 多轴力传感器 压力平衡 中图分类号：TP212 Mechanical Characteristic and Design Principle of Underwater Force Sensor Based on Pressure Balance of Bladder WANG Yong1 LIU Zhengshi1 CHEN Enwei1 LU Yimin1 GE Yunjian2 (1. School of Mechanical and Automotive Engineering, Hefei University of Technology, Hefei 230009; 2. Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei 230031) Abstract ：In order to balance the hydraulic pressure acted on the multi-axis force sensor of underwater robot, the long-shell theory is selected to research the distortion of bladder used in the sensor and amendment of this theory is carried out based on the mechanics analysis of the long and the short thin shells. An iteration algorithm used to calculate the pressure difference between in and out of the sensor is put forward, which applies the pressure balance method of bladder. Formulas of pressure difference, additional axial force, etc, in the pressure balance method of bladder are educed. The relative factors especially the pressure difference which affects the extra axial force acting on the sensor are analyzed and the characteristics of the pressure balance method of