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Dynamic analysis of double-layer and pre-stressed multi-limb six-axis force sensor

High Technology Letters 2019年第2期25卷 189-196页

作者： Wang Zhijun He Jing Cui Bingyan Li Zhanxian College of Mechanical Engineering North China University of Science and TechnologyTangshan 063210P.R.China Tangshan Polytechnic College Tangshan 063299P.R.China Hebei Province Research Institute of Industrial Robot Industry Technology Tangshan 063210P.R.China

In order to adapt to the specific task, the six-axis dynamic contact force between end-effectors of intelligent robots and working condition needs to be perceived. Therefore, the dynamic property of six-axis force sensor which is installed on the end-effectors of intelligent robots will have influence on the veracity of detection and judgment to working environment contact force by intelligent robots directly. In this paper, dynamic analysis to double-layer and pre-stressed multi-limb six-axis force sensor is conducted. First, the structure of the sensor is introduced, and the limb number is confirmed by introducing the related definitions of convex analysis. Then, based on vibration of multiple-degree-of-freedom system, a mechanical vibration simplified model of double-layer and pre-stressed multiple limb six-axis force sensor is set up. After that, movement differential equations of sensor and the response of analytical expression are deduced, and the movement differential equations is solved. Finally, taking the double-layer and pre-stressed seven limb six-axis force sensor as an example, numerical calculation and simulation of deriving result is conducted, which verify the correctness and feasibility of the theoretical analysis.

关键词： six-axis force sensor multi-limb pre-stressed mechanical vibration dynamic analysis

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