剪切梁结构扭矩传感器的应变解析  

Strain Analysis of Torque Sensor for Shear Beam Structure

作　　者：范素香 娄洪轩 孙瑞 蔡培芳 FAN Suxiang;LOU Hongxuan;SUN Rui;CAI Peifang(School of Mechanical Engineering,North China University of Water Resources and Electric Power,Zhengzhou 450045,Henan,China)

机构地区：[1]华北水利水电大学机械学院,河南郑州450045

出　　处：《工程与试验》2024年第2期4-6,11,共4页Engineering and Test

摘　　要：为实现对机器人在复杂情况下的灵活控制,需要在机器人关节处增加扭矩传感器,扭矩传感器是获取机器人关节运行状态的重要检测部件。考虑机器人自身尺寸限制及工作场景等因素,扭矩传感器采用轮辐式结构。本文介绍了扭矩传感器的结构和工作原理,分析了传感器弹性横梁在扭矩载荷作用下的变形协调条件,基于变形协调条件和铁木辛柯梁理论推导了剪切梁的应变计算公式,并建立了简化力学解析模型。通过有限元分析对力学模型的准确性和对弹性体结构参数的敏感性进行了验证。算例结果表明,该简化力学模型得出的结果和有限元结果数值相对误差在8.9%以内,表明了该简化力学解析模型的准确性。In order to achieve flexible control of robots in complex situations,it is necessary to add torque sensors at the robot joints.Torque sensors are important detection components for obtaining the operating status of robot joints.Considering the size limitation of the robot itself and the working scene and other factors,the torque sensor adopts the spoke structure.The structure and the working principle of the torque sensor are introduced in the paper,and the deformation coordination conditions of the elastic beam under torque load are analyzed.Based on the deformation coordination conditions and the theory of Timoshenko beam,the strain calculation formula of the shear beam is deduced,and a simplified mechanical analytical model is established.The accuracy of the mechanical model and the sensitivity to the structural parameters of the elastomer are verified by finite element analysis,and the results show that the relative error between the results obtained by the simplified mechanical model and the finite element results is within 8.9%,which indicates the accuracy of the simplified mechanical analytical model.

关 键 词：传感器 剪切梁 扭矩 铁木辛柯梁理论 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置]