柔性并联二维力传感器设计建模与性能测试

doi:10.3901/JME.2025.12.039

摘要/Abstract

摘要： 针对多维力传感器存在维间耦合串扰和多维载荷联合标定难实施等问题，基于传统并联机构和构型演化设计方法，提出一种可满足平面两维测力需求的结构解耦型二维力传感器新构型，并确定出其最佳贴片组桥方案。利用线弹性梁理论和模块建模方法，以整体刚度为桥梁，构建出二维力传感器两桥路输出应变与其待测载荷间的应变解析模型，借助有限元和标定试验数据验证所构建解析模型的正确性。通过搭建的标定系统对传感器进行单维静载性能测试和两维联合标定，结果表明所设计的传感器具有较高的测量精度和较小的维间耦合，同时基于最小二乘线性拟合获取的线性解耦矩阵可实现待测载荷的高精度预测，进而为多维测力传感器解耦设计和线性高精度解耦提供重要支撑。

关键词: 二维力传感器, 应变解析, 联合标定, 性能测试, 线性解耦

Abstract: Aiming at the problems of cross-coupling crosstalk and difficulty in combined calibration of multiple loads for multi-axis force sensors, based on the traditional parallel mechanism and configuration evolution design method, a new two-axis force sensor with decoupled configuration that can meet the measuring requirements of two planar force components is proposed, and the optimal bridge-connection scheme is determined. Utilizing the linear elastic-beam theory and modular modeling method, the strain analytical model between output strain of two bridges for the presented sensor and measured loads is constructed with the overall stiffness as the bridge. The correctness of the analytical model is verified with the finite element analysis and calibration experiments. The single-axis static-load performance testing and two-dimensional combined calibrations are performed with the sensor calibration system. The results show that the designed sensor has higher measurement accuracy and smaller cross coupling. Meanwhile, the linear-decoupling matrix obtained with the least-square linear fitting can achieve high-precision prediction for two measured loads, which provides the important support for the decoupling design of multi-axis force sensors and linear high-precision decoupling.

Key words: two-axis force sensor, strain analysis, combined calibration, performance testing, linear decoupling

中图分类号:

TP212

李立建, 申宁, 孙利, 姚建涛, 吴婷婷. 柔性并联二维力传感器设计建模与性能测试[J]. 机械工程学报, 2025, 61(12): 39-49.

LI Lijian, SHEN Ning, SUN Li, YAO Jiantao, WU Tingting. Design, Modeling and Performance Testing of Two-axis Force Sensor with Flexible Parallel Structure[J]. Journal of Mechanical Engineering, 2025, 61(12): 39-49.

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