双弯曲梁多轴腕力传感器设计  

Design of a Multi-Axis Wrist Force Sensor with Double Bending Beams

作　　者：石钢[1] 纪林章[1] 张垚[1] 张云龙[1] 

机构地区：[1]上海应用技术学院机械工程学院,上海201418

出　　处：《上海应用技术学院学报（自然科学版）》2014年第4期299-303,共5页Journal of Shanghai Institute of Technology: Natural Science

摘　　要：针对智能机械手的使用性能要求,设计了一种新型双弯曲梁多轴腕力传感器.该新型结构传感器有利于加工和安装,避免了因加工、时效等引起的变形、误差、不对称性等对传感器性能带来的影响,改善了传感器的工作性能,建立了该传感器力学模型,并从不同方向进行了受力分析.在确定传感器变形梁应变片的粘贴位置、组桥设计分析的基础上,开展了传感器单梁和整体加载试验,并进行理论计算和有限元分析.研究了不同加载试验下引起相对误差的原因,提出了传感器标定的解决办法.A new multi-axis wrist force sensor with double bending beams was designed to meet the requirements of the intelligent manipulator.The new structure was easy to process and install.The impact of deformation,error and asymmetry caused by machining and aging treatment was avoided,and the performance of sensor was improved.Mechanical model of the sensor was established,and the force analyses in different directions were conducted.Based on the determination of the pasting location of strain gauges to sensor deforming beam and the design analysis of bridging form,loading tests to single beam and whole sensor were carried out,theoretical calculation and finite element analysis were completed,and the relative error was analyzed.The causes of relative error in different loading tests were studied,and a solution of sensor calibration was put forward.

关 键 词：机械手 双弯曲梁 腕力传感器 有限元分析 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置]