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

doi:10.3901/JME.2024.19.020

Abstract

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

CLC Number:

TP212

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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