双E型六维力传感器矩形梁强迫振动分析  

FORCED VIBRATION ANALYSIS OF RECTANGULAR BEAM OF SIX-AXIS FORCE SENSOR BASED ON DOUBLE LAYER E-TYPE MEMBRANE

作　　者：谢黎峰[1,2] 许德章[1,2] 

机构地区：[1]安徽工程大学机械与汽车工程学院,安徽芜湖241000 [2]安徽工程大学先进数控和伺服驱动技术实验室,安徽芜湖241000

出　　处：《井冈山大学学报（自然科学版）》2014年第2期61-66,共6页Journal of Jinggangshan University (Natural Science)

基　　金：国家自然科学基金项目(51175001);安徽省自然科学基金项目(11040606M144)

摘　　要：六维力传感器弹性体一般采用组合梁结构,每个分方向的输出信号中不可避免地存其它分方向的受力信号的耦合输出。在动载工作条件下,六维力传感器动态耦合输出非常复杂。为了从理论上揭示六维力传感器动态耦合输出的主要特征,本文以双E型六维力传感器中的矩形梁为对象,建立力学模型,采用弹性力学基本理论和达朗贝尔原理,选取矩形梁前三阶振型,推导出其它五个分方向受力在Mz主方向的动态耦合输出,并绘制出动态应变图,为六维力传感器动态解耦提供了理论依据。Elastic body of six-axis force sensor used to adopt the structure of composite beam. Signal of each splitter direction inevitable contains the coupling-out of forced signal from the other splitter directions. Under the condition of dynamic loads, dynamic coupling-out of six-axis force sensor is very complicated. To reveal the main characteristic of dynamic coupling-out which six-axis force sensor indicates in theory, we study the rectangular beam of six-axis force sensor based on double layer E-type membrane, establish the mechanical models, use the basic theory of elastic mechanics and d＇alembert＇s principle, adopt the first three order modal shapes of the rectangular beam and deduce the dynamic coupling-out which the other five splitter directions act on Mz which is the main direction. Finally, figures of dynamic strain will be plotted and the theoretical basis for dynamic decoupling of six-axis force sensor has been provided.

关 键 词：六维力传感器 耦合 矩形梁 弹性力学 应变 

分 类 号：O326[理学—一般力学与力学基础]