整体预紧并联结构六维力传感器结构设计与性能研究-structural design and performance research of six-dimensional force sensor with integral pre-tightening parallel structure.docx

摘要随着科学技术的迅速发展，传感器技术已经广泛应用于测量、控制及 信息等领域，并且已成为高新技术的核心技术之一。在各种传感器中，六 维力与力矩传感器以其能够感知外力和力矩的全部信息而成为最重要的一 类传感器。研制满足一定应用场合的、高性能的六维力传感器具有重要的 工程实践意义。本文针对一种新型的整体预紧并联结构六维力传感器进行 结构设计和性能研究，主要研究内容如下：首先，确定了新型整体预紧式六维力传感器的设计方案，推导了空间 刚体受单向约束力保持平衡时，受力个数的范围；建立了传感器的理论数 学模型，确定传感器的六个结构参数，并推导出一阶静力影响系数矩阵表 达式。其次，依据所建立的理论模型结合给定量程确定了传感器的结构参数； 采用可视化的三维设计软件，对传感器的机械结构进行了系统设计，并通 过有限元分析软件对传感器的关键部件进行校核和优化，最终确定了整体 预紧并联结构六维力传感器的实体模型。再次，通过 Kane 方法建立六维力传感器的动力学方程，并将其转化为 振动方程，再由振动学理论求解了传感器固有频率和模态向量。最后，采用动力学分析软件 ADAMS 对传感器进行动力学性能仿真分 析。通过建立刚—柔混合模型和弹性分支模型两种方法，分别对传感器进 行了动态特性分析，并将得出的结果进行比较；另外采用 ADAMS/Vibration 振动模块对传感器进行了受迫振动仿真分析。关键词 整体预紧；六维力传感器；单向约束；柔性体；动态性能AbstractAs one of the key high-techs, sensor technology has been widely applied to the fields of measurement, control and information, with the rapidly development of science and technology. With the ability of measuring the external force and moment vector together, the six-component force/torque sensor is one kind of the most important sensors. It has great significance to develop high performance six-component force sensor which can be used to the special engineering application situations. In this paper, structural design and performance analysis of a novel fully pre-stressed parallel six-component force sensor has been performed. The main contents are as follows:Firstly, the number of limbs of the sensor is derived with the consideration of a rigid body constrained by unilateral force, and the structure of the novel fully pre-stressed six-component force sensor is determined. The theoretical mathematic model of the sensor is built, and the expression of the one order static influence coefficient matrix is deduced.Secondly, the structural parameters are confirmed by the theoretical mathematic model and the given range; The structure of the sensor is designed and analyzed by using 3D visualized modeling and analyzing software, and the important components are optimized by COSMOSWork. the solid model of fully pre-stressed six-component force sensor is