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Research on parallel load sharing principle of piezoelectric six-dimensional heavy force/torque sensor

机译：压电六维重力/转矩传感器的并联负载分担原理研究

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摘要

In working process of huge heavy-load manipulators, such as the free forging machine, hydraulic die-forging press, forging manipulator, heavy grasping manipulator, large displacement manipulator, measurement of six-dimensional heavy force/torque and real-time force feedback of the operation interface are basis to realize coordinate operation control and force compliance control. It is also an effective way to raise the control accuracy and achieve highly efficient manufacturing. Facing to solve dynamic measurement problem on six-dimensional time-varying heavy load in extremely manufacturing process, the novel principle of parallel load sharing on six-dimensional heavy force/torque is put forward. The measuring principle of six-dimensional force sensor is analyzed, and the spatial model is built and decoupled. The load sharing ratios are analyzed and calculated in vertical and horizontal directions. The mapping relationship between six-dimensional heavy force/torque value to be measured and output force value is built. The finite element model of parallel piezoelectric six-dimensional heavy force/torque sensor is set up, and its static characteristics are analyzed by ANSYS software. The main parameters, which affect load sharing ratio, are analyzed. The experiments for load sharing with different diameters of parallel axis are designed. The results show that the six-dimensional heavy force/torque sensor has good linearity. Non-linearity errors are less than 1%. The parallel axis makes good effect of load sharing. The larger the diameter is, the better the load sharing effect is. The results of experiments are in accordance with the FEM analysis. The sensor has advantages of large measuring range, good linearity, high inherent frequency, and high rigidity. It can be widely used in extreme environments for real-time accurate measurement of six-dimensional time-varying huge loads on manipulators.
机译：在大型重载机械手的工作过程中，如自由锻造机，液压模锻压力机，锻造机械手，重型抓紧机械手，大位移机械手，六维重力/扭矩的测量以及力的实时力反馈操作界面是实现协调运行控制和力顺控制的基础。这也是提高控制精度和实现高效制造的有效途径。面对解决极端制造过程中六维时变重物的动态测量问题，提出了六维重力/转矩并联负载分担的新原理。分析了六维力传感器的测量原理，建立并解耦了空间模型。在垂直和水平方向上分析和计算负载分配率。建立了要测量的六维重力/扭矩值与输出力值之间的映射关系。建立了并联压电六维重力/转矩传感器的有限元模型，并通过ANSYS软件对其静态特性进行了分析。分析了影响负荷分担率的主要参数。设计了不同直径的平行轴载荷分配实验。结果表明，六维重力/扭矩传感器具有良好的线性度。非线性误差小于1％。平行轴具有良好的负载共享效果。直径越大，负载分配效果越好。实验结果与有限元分析一致。该传感器具有测量范围大，线性好，固有频率高和刚性高的优点。它可以广泛用于极端环境中，以实时准确测量机械手的六维时变巨大负载。

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  • 来源
    《Mechanical systems and signal processing》 |2011年第1期|p.331-343|共13页
  • 作者

    Wei Liu; Ying-jun Li; Zhen-yuan Jia; Jun Zhang; Min Qian;

  • 作者单位

    Key Laboratory for Precision and Non-traditional Machining Technology of Ministry of Education, Dalian University of Technology, Dalian 116024, PR China;

    rnKey Laboratory for Precision and Non-traditional Machining Technology of Ministry of Education, Dalian University of Technology, Dalian 116024, PR China;

    rnKey Laboratory for Precision and Non-traditional Machining Technology of Ministry of Education, Dalian University of Technology, Dalian 116024, PR China;

    rnKey Laboratory for Precision and Non-traditional Machining Technology of Ministry of Education, Dalian University of Technology, Dalian 116024, PR China;

    rnKey Laboratory for Precision and Non-traditional Machining Technology of Ministry of Education, Dalian University of Technology, Dalian 116024, PR China;

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  • 正文语种 eng
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  • 关键词

    parallel load sharing principle; six-dimensional heavy force/torque; piezoelectric sensor; load sharing experiment;

    机译：并行负载分担原理;六维重力/扭矩;压电传感器负载分担实验;

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