Structural design and optimization for a novel self-decoupling six-dimensional force / torque sensor

XIONG Ya-qing; YU Wei-jian

doi:10.13873/J.1000-9787(2015)11-0106-03

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Structural design and optimization for a novel self-decoupling six-dimensional force / torque sensor

更新时间：2025-09-11

- Structural design and optimization for a novel self-decoupling six-dimensional force / torque sensor
- Vol. 34, Issue 11, Pages: 106-108+115(2015)
- 作者机构：
  
  南京航空航天大学航空宇航学院
- 作者简介：
- 基金信息：
- DOI：10.13873/J.1000-9787(2015)11-0106-03
  CLC： TP212
- Published：2015
- 稿件说明：
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[1]熊雅晴,虞伟建.一种新型自解耦六维力/力矩传感器结构设计与优化[J].传感器与微系统,2015,34(11):106-108+115.

XIONG Ya-qing, YU Wei-jian. Structural design and optimization for a novel self-decoupling six-dimensional force / torque sensor[J]. 2015, 34(11): 106-108+115.
[1]熊雅晴,虞伟建.一种新型自解耦六维力/力矩传感器结构设计与优化[J].传感器与微系统,2015,34(11):106-108+115. DOI： 10.13873/J.1000-9787(2015)11-0106-03.

XIONG Ya-qing, YU Wei-jian. Structural design and optimization for a novel self-decoupling six-dimensional force / torque sensor[J]. 2015, 34(11): 106-108+115. DOI： 10.13873/J.1000-9787(2015)11-0106-03.

摘要

针对多维传感器广泛存在维间耦合效应

精度难以提高的问题

设计了一种具有自解耦特性的新型六维力/力矩传感器。采用有限元法对该传感器弹性体进行静力分析

研究了结构在不同工况下的应力应变分布。基于结构变形特点

对特征点位置和布片组桥方式进行了优化。同时也对结构进行了维间耦合分析

验证了该新型传感器具有耦合效应低的优点

提高了传感器的精度

具有较好的应用前景。

Abstract

Aiming at problems of dimension coupling and precision restricting of multi-dimensional sensor

design a novel force / torque（ F / T） sensor of six dimensions with self-decoupling characteristics. The finite element method is adopted for static analysis on sensor

and distribution of stress and strain of structure deformation

is studied. Based on feature of structure deformation

optimize feature point positions as well as bridging form of strain gauge. At the same time

it is verified from the dimension coupling analysis that the novel sensor has an advantage of low-coupling effect and precision of the sensor is it is improved

and has a good prospect of application.

关键词

Keywords

references

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船模六自由度运动量的接触式测量 [J]. 孟祥玮,高学平. 船舶力学 . 2010(04)

生物传感器及其在食品安全检测中的应用 [J]. 徐书法,国占宝,曹坦,赵静. 现代科学仪器 . 2008(06)

多维加速度场下六维力传感器弹性体结构设计 [J]. 吴宝元,吴仲城,申飞. 华中科技大学学报(自然科学版) . 2008(S1)

新型传感器的应用及发展方向 [J]. 杨锦尊. 现代电子技术 . 2006(20)

6分量应变式力传感器弹性体 [J]. 张美芹,王人成,胡晓. 中国康复医学杂志 . 2005(10)

一种新型水下机器人用六维腕力传感器 [J]. 崔维娜,王巍. 仪器仪表学报 . 2001(04)

A force–torque sensor based on a Stewart Platform in a near-singular configuration [J] . R Ranganath,P.S Nair,T.S Mruthyunjaya,A Ghosal. Mechanism and Machine Theory . 2004 (9)

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