柔性并联多维力传感器协同优化设计

doi:10.3901/JME.2024.19.020

机械工程学报 ›› 2024, Vol. 60 ›› Issue (19): 20-31.doi: 10.3901/JME.2024.19.020

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柔性并联多维力传感器协同优化设计

李立建¹, 杨朋霖¹, 姚建涛^2,3, 李冰¹, 王迎佳¹

1. 华北水利水电大学机械学院郑州 450045;
2. 燕山大学河北省并联机器人与机电系统实验室秦皇岛 066004;
3. 燕山大学先进锻压成形技术与科学教育部重点实验室秦皇岛 066004

收稿日期:2023-10-10 修回日期:2024-04-08 出版日期:2024-10-05 发布日期:2024-11-27
作者简介:李立建,男,1986年出生,博士,讲师,硕士研究生导师。主要研究方向为机器人机构学和柔性并联多维力传感器。E-mail:lljianzhu@126.com;姚建涛(通信作者),男,1980年出生,教授,博士研究生导师。主要研究方向为机器人机构理论和仿生与软体机器人理论及应用。E-mail:jtyao@ysu.edu.cn
基金资助:
国家自然科学基金(52005181,U2037202)、河南省高等学校重点科研计划支持(24A460016)、河南省高校科技创新团队(22IRTSTHN018)和河南省科技攻关(222102220039)资助项目。

Co-optimization Design of Flexible Parallel Multi-axis Force Sensors

LI Lijian¹, YANG Penglin¹, YAO Jiantao^2,3, LI Bing¹, WANG Yingjia¹

1. School of Mechanical Engineering, North China University of Water Resources and Electric Power, Zhengzhou 450045;
2. Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao 066004;
3. Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education, Yanshan University, Qinhuangdao 066004

Received:2023-10-10 Revised:2024-04-08 Online:2024-10-05 Published:2024-11-27

摘要/Abstract

摘要： 针对多维力传感器弹性体结构存在变截面、非规则或难解析等柔性单元，导致其应变解析模型较难构建，进而给传感器结构优化和性能评价带来困难。基于Matlab和ANSYS软件间的协同交互，提出一种适于复杂弹性体结构的柔性并联多维力传感器优化设计方法。利用线弹性梁理论，构建出十字梁型多维力传感器通用整体刚度和力映射解析模型，通过考虑含难解析浮动梁结构的测量支链和贴片组桥策略，推导获得四边固支和两边固支十字梁型传感器的应变与载荷解析关系，结合具体算例和借助有限元及实验数据验证所构建解析模型的正确性。协同优化设计结果表明，给定约束条件下十字梁型传感器归一化应变柔度矩阵的条件数均能趋于1，且可使传感器达到高测量灵敏度、低维间耦合和各维同性。

关键词: 多维力传感器, 柔性并联, 协同优化, 应变解析, 性能评价

Abstract: Aiming at the elastic-body structure of multi-axis force sensors with variable-section, irregular or nonanalytic flexible units, these units will make the strain analytical model of sensors difficult to construct, which further brings some difficulties in aspects of structural optimization and performance evaluation of sensors.Based on the collaborative interaction between Matlab and ANSYS software, an optimization design method suitable for flexible parallel multi-axis force sensors with complex elastic-body structure is proposed.Utilizing the linear elastic-beam theory, the general overall-stiffness and force-mapping analytical models of cross-beam multi-axis force sensors are established.By considering the measuring chains with nonanalytic floating-beam structure and bridge connection schemes, the analytical strain-load relations of the cross-beam sensors including the floating-beam structures with four-edges or two-sides clamped support are deduced.The correctness of the analytical models is validated by combining examples of cross-beam sensors with finite-element and experimental results.The collaborative optimization design results show that the condition number for the normalized strain compliance matrix of cross-beam sensors after optimization tends to 1 under given constraints, and meanwhile the high measurement sensitivity, low cross-coupling and isotropy can be achieved.

Key words: multi-axis force sensor, flexible parallel, collaborative optimization, strain analysis, performance evaluation

中图分类号:

TP212

李立建, 杨朋霖, 姚建涛, 李冰, 王迎佳. 柔性并联多维力传感器协同优化设计[J]. 机械工程学报, 2024, 60(19): 20-31.

LI Lijian, YANG Penglin, YAO Jiantao, LI Bing, WANG Yingjia. Co-optimization Design of Flexible Parallel Multi-axis Force Sensors[J]. Journal of Mechanical Engineering, 2024, 60(19): 20-31.

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柔性并联多维力传感器协同优化设计

Co-optimization Design of Flexible Parallel Multi-axis Force Sensors

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