Y形横梁六维力/力矩传感器的应变分析

doi:10.3901/JME.2020.12.001

机械工程学报 ›› 2020, Vol. 56 ›› Issue (12): 1-8.doi: 10.3901/JME.2020.12.001

• 仪器科学与技术 • 下一篇

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Y形横梁六维力/力矩传感器的应变分析

左盟^1,2, 陈伟球^1,2,3, 杨明⁴, 鲍荣浩^1,2

1. 浙江省软体机器人与智能器件研究重点实验室杭州 310027;
2. 浙江大学工程力学系杭州 310027;
3. 浙江大学软物质科学研究中心杭州 310027;
4. 杭州知愚科技有限公司杭州 311113

收稿日期:2019-06-22 修回日期:2019-11-06 出版日期:2020-06-20 发布日期:2020-07-14
通讯作者: 鲍荣浩(通信作者),男,1969年出生,博士,副教授,硕士研究生导师。主要研究方向为智能传感器设计与分析等。
作者简介:左盟,男,1996年出生。主要研究方向为智能传感器。E-mail:21724012@zju.edu.cn;陈伟球,男,1969年出生,博士,教授,博士研究生导师。主要研究方向为智能材料与结构力学等。E-mail:chenwq@zju.edu.cn
基金资助:
国家自然科学基金（11621062）和深圳市科技研发资金（JCYJ20170816172316775）资助项目。

Strain Analysis of Six-axis Force/Torque Sensors with Y-shaped Crossbeam

ZUO Meng^1,2, CHEN Weiqiu^1,2,3, YANG Ming⁴, BAO Ronghao^1,2

1. Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province, Zhejiang University, Hangzhou 310027;
2. Department of Engineering Mechanics, Zhejiang University, Hangzhou 310027;
3. Soft Matter Research Center, Zhejiang University, Hangzhou 310027;
4. Zhiyu Technology Co., Ltd., Hangzhou 311113

Received:2019-06-22 Revised:2019-11-06 Online:2020-06-20 Published:2020-07-14

摘要/Abstract

摘要： 设计电阻应变式六维力/力矩传感器的前提是预知其弹性结构的应变分布，而传统的基于几何建模的有限元分析设计方法存在耗时长、效率低等问题。针对Y形横梁六维力/力矩传感器的弹性结构，提出一种高效、精确的解析分析方法。详细考察了该六维力/力矩传感器弹性横梁在各轴力/力矩载荷作用下的变形特征，基于铁木辛柯梁理论建立简化的力学模型，从而解析地得到各轴力/力矩载荷作用下弹性横梁中应变的显式表达式，与有限元模拟进行对比。结果表明：解析模型给出的预测结果与有限元数值解基本吻合，说明了该解析模型的正确性和有效性，从而为Y形横梁六维力/力矩传感器的设计提供了高效、精确的解析手段。

关键词: 六维力/力矩传感器, Y形横梁, 应变分布, 铁木辛柯梁理论

Abstract: The prerequisite of designing a strain-gauged six-axis force/torque sensor is to know the strain distribution in its elastic structure. However, the traditional finite element analysis(FEA) based on geometric modeling is time-consuming and inefficient. An efficient and accurate strain analysis is therefore proposed for the six-axis force/torque sensor with Y-shaped elastic crossbeam. The deformation characteristics of the Y-shaped beam under various axial force/torque loads are analyzed, and a simplified mechanical model is established using Timoshenko beam theory. The explicit expressions of the strain are obtained, and the corresponding predictions are compared with the finite element simulations. The results show that the analytical solution agrees quite well with the FEA results, which validates the mechanical model. The study therefore provides an effective and accurate tool for the design of six-axis force/torque sensors with Y-shaped elastic crossbeam.

Key words: six-axis force/torque sensor, Y-shaped elastic crossbeam, strain distribution, Timoshenko beam theory

中图分类号:

TP212

左盟, 陈伟球, 杨明, 鲍荣浩. Y形横梁六维力/力矩传感器的应变分析[J]. 机械工程学报, 2020, 56(12): 1-8.

ZUO Meng, CHEN Weiqiu, YANG Ming, BAO Ronghao. Strain Analysis of Six-axis Force/Torque Sensors with Y-shaped Crossbeam[J]. Journal of Mechanical Engineering, 2020, 56(12): 1-8.

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Y形横梁六维力/力矩传感器的应变分析

Strain Analysis of Six-axis Force/Torque Sensors with Y-shaped Crossbeam

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