关键词: 解耦, 空间布局, 六维力/力矩, 压电石英

Abstract: In order to solve problems of multi-dimensional and heavy force measurement of huge heavy-duty operating equipment working in extreme situation, a novel axial piezoelectric 6-component force/torque sensor with parallel structure is presented. Piezoelectric quartz is chosen as force sensing element to realize real-time dynamic measurement through comparing all kinds of force sensing elements, and the measurement principle of different spatial arrangement of the novel sensor is analyzed. The multi-point measuring principle of axial piezoelectric 6-component force/torque sensor is presented. Mechanical models are built and decoupled. The novel non-assemble holistic structure of the sensor is designed with advantages of high sensitivity, rigidity, and linearity. The methods of calibration researching on the sensor’s calibration algorithm are presented. The static and dynamic calibration experiments are designed. And then its calibrated matrix and error matrix are obtained after static calibration experiment. The results show that this 6-component force/torque sensor can measure dynamic spatial 6-component force/torque. It has large measurement range, good linearity, high natural frequency, good dynamic performance and wide application fields.

Key words: Decouple, Piezoelectric quartz, Six-component force/torque, Spatial arrangement