摘要
本文对现有的六维力传感器及其力敏元件进行分析和研究,研制了一种能准确测量轴上空间六维力的新型四支点压电石英并联式轴上六维力传感器。选择压电石英作为四支点六维力传感器的力敏元件,提出了两种不同的力敏元件空间布置方式,对其建立了数学模型和解耦计算,得到作用在轴上的空间六维力。分析了压电石英传感器测量轴上六维力产生偏差的原因,通过实验进行了验证,确定出压电石英六维力传感器的力敏元件相对合理的布置方式,为轴上六维力测量提供了参考依据。
Through analyzing and comparing existing different kinds of sensors and force-sensitive elements, this paper develops a novel six-axis piezoelectric quartz force sensor on axis with four supporting points, which can accurately measure six-dimensional forces/torques on axis. Piezoelectric quartz crystal is selected as the force-sensitive element of the six-axis piezoelectric quartz force sensor with four supporting points. Two different arrangements of the four group piezoelectric quartz crystals are put forward. The corresponding mechanical models are built, the decoupling computation is carded out, and then the space six-axis forces on axis can be obtained. The causes of the deviation of the six-axis force measurement on axis for different arrangements are analyzed. Static calibration experiments are designed to determine the reasonable arrangement of the four group piezoelectric quartz crystals, which provide a reference basis for the design of six-axis force sensor.
出处
《仪器仪表学报》
EI
CAS
CSCD
北大核心
2010年第1期73-77,共5页
Chinese Journal of Scientific Instrument
关键词
六维力
压电石英
菱形布置
正方形布置
静态标定
six-axis force/torque
piezoelectric quartz
lozenge arrangement
square arrangement
static calibration
