摘要
六维力传感器的特殊结构决定了各维间耦合存在的必然性,在多维加速度场六维力测试环境中,传感器惯性质量分布又加重了耦合的程度。本文针对多维加速度场中六维力传感器惯性耦合效应,建立传感器力学解析模型和弹性体的应力—应变关系,采用有限元方法(FEM)仿真,分析了多维加速度场中惯性力学特点与耦合效应本质特征,为加速度场中六维力传感器主动设计和惯性耦合补偿提供理论参考依据。
The special structure of 6-axis force sensor results in the existing certainty of across-axis coupling. Testing in many multi-dimensional acceleration fields with 6-axis force sensor, the inertia mass of sensor has aggravated the degree of coupling again. Aiming at the inertia coupling effect of 6-axis force sensor in multi-dimensional acceleration field, mechanics analyzing model and stress-strain relationship of elastomer are established in the paper. And the emulations are conducted by adopting the method （FEM）, characteristics of the inertia mechanics, essential characteristics of the coupling effect in many multi-dimensional acceleration field are all analyzed in the end. All those provide theoretical references for 6-axis force sensor＇s active design and inertial coupling compensation in multi-dimensional acceleration field.
出处
《传感技术学报》
CAS
CSCD
北大核心
2008年第10期1686-1690,共5页
Chinese Journal of Sensors and Actuators
基金
国家自然科学基金项目资助"人形机器人步态仿生自适应稳定机制研究"(60575058)
NSAF基金资助"加速度场中的六维力测试技术研究"(10576033)
国家863项目资助"仿人机器人集成化足部感知系统"(2008AA04Z205)
关键词
六维力传感器
惯性耦合
FEM
多维加速度场
6-axis force sensor
inertia coupling
FEM
multi-dimensional acceleration field
