正交并联六维力传感器设计与实验研究

发布时间：2018-12-14 04:40

【摘要】：随着高新技术产业智能化进程的加快,传感器技术在其发展中逐渐占有越来越重要的地位。六维力传感器作为一类能够检测空间全力信息的传感器在机器人技术、生物医疗、航空航天、汽车制造等领域中有着广泛的应用。论文提出了一种测量分支水平与竖直正交排布的正交并联六维力传感器,对其机构理论、结构参数优化及静态标定实验等做了深入的分析研究,具体研究工作有:1)提出了六分支、八分支两种结构的正交并联六维力传感器;应用螺旋理论建立两种六维力传感器的数学模型;推导其静力学平衡方程,并进行方程的求解,进而得到正交并联六维力传感器受空间六维外力向测量分支轴向力的映射关系。2)依据各向同性的概念,分析两种结构正交并联六维力传感器的结构性能;面向六维力传感器实际应用中的测量需求,提出并联六维力传感器工况函数模型;根据工况函数模型,以测量分支量程最小为优化目标,推导并联六维力传感器结构参数优化方法;以六分支正交并联六维力传感器在卫生陶瓷曲面打磨作业中的应用为例,根据工况函数模型对其结构进行优化,得到测量分支的最小量程以及对应的传感器结构参数。3)提出一种六维力传感器在线静态标定加载方法;推导了六维力传感器的在线静态标定算法;基于Lab VIEW设计并开发了静态标定软件,可实现标定过程中数据的采集与最小二乘处理、六维力测量及实时显示等功能。4)最后,研制了六分支正交并联六维力传感器样机;搭建了传感器在线静态标定系统,并进行静态标定实验,得到六分支正交并联六维力传感器样机的标定矩阵,并对样机的测量性能进行分析,得到其实际测量中的线性度矩阵。实验结果为评价样机测量精度提供了依据。
[Abstract]:With the acceleration of the intelligent process of high-tech industry, sensor technology gradually occupies an increasingly important position in its development. As a kind of sensor which can detect the all-out information in space, six-dimensional force sensor has been widely used in robotics, biomedicine, aerospace, automobile manufacturing and so on. In this paper, an orthogonal parallel six-axis force sensor with vertical and horizontal branches is proposed. The mechanism theory, structural parameters optimization and static calibration experiments are analyzed and studied. The specific research works are as follows: 1) six branches, eight branches and two kinds of orthogonal parallel six-axis force sensors are proposed. The mathematical models of two kinds of six-axis force sensors are established by spiral theory. The static equilibrium equation is derived, and the equation is solved, and then the mapping relation of the orthogonal parallel six-axis force sensor to the axial force of the branch measured by the spatial six-dimensional external force is obtained. 2) according to the concept of isotropy, The structural performance of two orthogonal parallel six-axis force sensors is analyzed. In order to meet the requirement of measurement in the practical application of six-axis force sensor, a model of the operating condition function of parallel six-axis force sensor is proposed. According to the working condition function model, the optimization method of the structural parameters of the parallel six-axis force sensor is derived with the minimum measuring range of the branch as the optimization objective. Taking the application of six-branch orthogonal parallel six-axis force sensor in sanitizer surface grinding as an example, the structure of the sensor is optimized according to the working condition function model. The minimum measurement range of the measuring branch and the corresponding structural parameters of the sensor are obtained. 3) an on-line static calibration loading method for a six-axis force sensor is proposed. The online static calibration algorithm of six-axis force sensor is derived. Based on Lab VIEW, the static calibration software is designed and developed, which can realize the functions of data acquisition, least square processing, six-axis force measurement and real-time display. 4) finally, a prototype of six-branch parallel six-axis force sensor is developed. The sensor on-line static calibration system is built and the calibration matrix of the six-branch parallel six-axis force sensor prototype is obtained by static calibration experiment. The measurement performance of the prototype is analyzed and the linearity matrix in the actual measurement is obtained. The experimental results provide a basis for evaluating the measuring accuracy of the prototype.
【学位授予单位】：华北理工大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP212

【相似文献】