轮辐式压电六维力传感器结构设计及优化

发布时间：2018-04-15 13:15

本文选题：轮辐式结构 + 压电六维力传感器　；参考：《济南大学》2017年硕士论文

【摘要】：随着近代工业技术以及现代制造业的发展和革新,自动化作业机器人已经成为工业领域的重要组成部分。无论是重载制造装备,还是工业上常用的工业机器人和机械手,在其工作过程中都需要多维灵巧的操作能力和实时力反馈功能帮助其实现正确恰当的自主操作,而保证这一功能可以正确实现的核心结构就是六维力传感器。高灵敏度的六维力传感器是机器人手臂关节的重要组成部分也是不可或缺的部分,六维力传感器的性能直接决定机器人的工作效率。本文选用动态测量性能及力反馈性能较为优异的压电石英作为力敏元件,通过建模仿真技术及结构设计技术,结合并联分载原理及多支点测量原理设计了一种应用于工业机器人及机械手关节部分的轮辐式压电六维力传感器,并进行了性能标定及优化。首先,本文对三支点测量原理,四支点测量原理及五支点测量原理等进行研究,推导出多支点测量原理及测量公式,结合多支点空间布局原理将四支点布局方式中的十字形布局及正方形布局进行结合,提出一种新型的八支点空间布局方式并对其测量原理进行了深入研究。其次,本文结合多支点测量原理及测量公式对力敏元件的叠放布局方式进行了深入分析。基于压电机理及压电方程整合出一整套合理的石英晶组叠放布置方式,依据八支点空间布局原理,设计出一种无耦合现象的六维力测量方案及测量公式。再次,本文通过市场调研和文献检索,考虑机器人及机械手臂关节尺寸及操作环境需要,结合八点支撑式空间布局方案设计出一种圆盘式压电六维力传感器结构。通过参数化建模结合仿真实验,得出该结构传感器的性能指标,圆盘式压电六维力传感器可以有效完成六维力的测量,但是存在上下盖壳体受力不均、力学传递效率较低、质量过大以及固有频率不足等缺陷。基于轻量化原则结合力学传递机理以及并联分载原理,对圆盘式压电六维力传感器结构进行优化设计,将圆盘力学分载机构改进设计为轮辐式结构,建模并进行仿真实验。实验结果显示:经过结构优化,轮辐式压电六维力传感器结构力学传递性能得到了大幅度改善,上下盖壳体受力一致,轮辐式并联分载机构作用良好,力学传递效率较高,同时固有频率和灵敏度也得到极大的提升。轮辐式压电六维力传感器结构采用轻量化设计,大大降低了传感器本身重量,减少了安装后机器人以及机械手臂的工作能耗,提升了工作效率。轮辐式压电六维力传感器主要特点为:低能耗、高固有频率、高灵敏度,同时具有高速测量和动态测量功能。最后,本文对轮辐式压电六维力传感器进行参数化建模,建立了力学模型以及参数化实体模型,并对其进行六维力测量仿真实验,结合八支点测量公式对其进行了性能检测与量程合理化分析,计算出不同载荷下传感器的力学传递效率。实验结果显示:该轮辐式压电六维力传感器各项性能参数指标良好,可以有效的完成六维力测量并且不存在耦合现象。
[Abstract]:With the development of modern industrial technology and modern manufacturing industry development and innovation, automatic robot has become an important part of the industrial sector. Both heavy manufacturing equipment, is commonly used in industry and industrial robot manipulator, in the course of their work are required for operation ability dimension dexterity and real-time force feedback to help them achieve independent function operate properly, and to ensure that the core structure of this function can be implemented correctly is the six axis force sensor. The six axis force sensor with high sensitivity is an important part of a joint of a robot arm is also an indispensable part of the performance of six dimensional force sensor directly determines the efficiency of the robot. The dynamic performance of measuring force and piezoelectric quartz is excellent performance feedback as the sensing element, through the modeling and simulation technology and structural design technology, combined with the original parallel load And multi pivot measuring principle is designed for a wheel type industrial robot and manipulator joint part of the piezoelectric six dimensional force sensor, and the calibration and optimization performance. First of all, on the three point measurement principle, study four fulcrum measurement principle and five fulcrum measuring principle, deduce the multi fulcrum measurement principle and the measurement formula, combined with the multi pivot space layout layout principle four fulcrum of the cruciform layout and square layout are combined, this article puts forward a new eight fulcrum space layout and the measurement principle are researched. Secondly, combining multi fulcrum measuring principle and formula of force sensitive element stack on the layout are analyzed. The piezoelectric equation of piezoelectric mechanism and integration of a set of reasonable quartz crystal groups stacked layout based on the basis of the eight pivot layout principle, design The six dimensional force measurement scheme and measurement formula of a coupling phenomenon. Thirdly, through market research and literature retrieval, and consider the robot arm joint size and operating environment, combined with a disc type piezoelectric six dimensional force sensor structure design of eight point supporting type space layout scheme. Through combining parametric modeling simulation results obtained the performance of the sensor structure, measurement of disc type piezoelectric six dimensional force sensor can complete six dimensional, but there are upper and lower cover shell uneven force, mechanical transmission efficiency is low, the quality is too large and the natural frequency of the lack of lightweight principle combined with mechanical transmission mechanism as well as parallel based on the principle of load, and optimize the design of disk type piezoelectric six dimensional force sensor structure, the mechanical disk loading mechanism for improving design of spoke structure, modeling and simulation Experimental results show: after structure optimization, spokewise piezoelectric six dimensional force sensor structure mechanical transfer performance has been greatly improved, the upper and lower cover shell stress, spokewise parallel load distribution mechanism, mechanical transmission efficiency is high, and the natural frequency and sensitivity has been greatly improved. The use of lightweight design spokewise piezoelectric six dimensional force sensor structure, greatly reduces the sensor itself weight, reduce energy consumption and work after the installation of the robot arm, enhance the work efficiency. Spokewise piezoelectric six dimensional force sensor is characterized by low energy consumption, high frequency, high sensitivity, and has high speed measurement and dynamic measurement function. Finally in this paper, the parametric modeling of spokewise piezoelectric six dimensional force sensor, established the mechanical model and parametric entity model, and carries on the simulation experiment of six axis force measurement, The performance test and range rationalization analysis combined with the eight pivot measurement formula, calculate the mechanical sensor under different load transfer efficiency. Experimental results show that the spokewise piezoelectric six dimensional force sensor performance index is good, can effectively complete the six dimensional force measurement and there is no coupling phenomenon.

【学位授予单位】：济南大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP212

【参考文献】