Design and research of a new type of high-precision six-axis force sensor
2025-03-01
Traditional single-axis force sensors can no longer meet the needs of modern production and technology. Six-axis force sensors are increasingly attracting the attention of many scholars. Six-axis force sensors can measure forces and torques in six directions at the same time and are widely used in machines, robot arms, aerospace, biomedicine and other fields. However, the six-axis force sensors currently studied generally have many problems. High-precision and high-sensitivity sensors are urgently needed for further research. This paper combines theoretical analysis, finite element simulation and simulation experiments, and optimizes the structure of the sensor on the basis of existing sensor research. A new type of high-precision six-axis force sensor is proposed. The main research contents include:
1. After in-depth analysis of the various performances of the sensor and exploring the law of changes in sensor performance with sensor geometric parameters. A new type of composite beam type six-axis force sensor structure is proposed. The sensor has a simple structure, obvious deformation, and easy operation of the patch position. The orthogonal test and finite element simulation methods are used to determine the size parameters of the sensor.
2. Use abaqus analysis software to build the sensor model, and perform static and dynamic analysis on the sensor. The strain distribution of the sensor under the external force load and the natural frequency of the first six orders of the sensor are obtained. The results show that the sensor has good linearity.
3. Based on the basic principle of the Whits surge cup, determine the layout of the six-dimensional force sensor. Based on the analysis results of the finite element method, determine the deformation area of the elastic body, combine the scale of the sensor structure, and perform reasonable layout on it. And increase the output appropriately, and reduce the inter-dimensional coupling problem of the six-dimensional force sensor on the patch.
4. Develop a special calibration device for the sensor. According to the structure and shape of the sensor, design a set of special sensor calibration devices. According to the results of the simulation experiment, the sensor is decoupled. Use the square method and BP neural network method to calculate the relationship between them and complete the calibration study of the sensor. The study shows that the BP neural network method has a better decoupling effect.
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