Department of Mechanical Engineering, National Taiwan University of Science and Technology, Taipei 106, Taiwan.
Center for Cyber-Physical System, National Taiwan University of Science and Technology, Taipei 106, Taiwan.
Sensors (Basel). 2020 Jan 10;20(2):395. doi: 10.3390/s20020395.
In this study, a novel six-axis force/moment (F/M) sensor was developed. The sensor has a novel ring structure comprising a cross-beam elastic body with sliding and rotating mechanisms to achieve complete decoupling. The unique sliding and rotating mechanisms can reduce cross-talk effects caused by minimized structural interconnection. The forces , , and and moments , , and can be measured for the six-axis F/M sensors according to the elastic deformation of strain gauges attached to the cross beam. Herein, we provide detailed descriptions of the mathematical models, model idealizations, model creation, and the mechanical decoupling principle. The paper also presents a theoretical analysis of the strain based on Timoshenko beam theory and the subsequent validation of the analysis results through a comparison of the results with those obtained from a numerical analysis conducted using finite element analysis simulations. The sensor was subjected to experimental testing to obtain the maximum cross-talk errors along the following six axes under different loadings (the errors are presented in parentheses): under (2.12%), under (1.88%), under (2.02%), under (1.15%), under (1.80%), and under (2.63%). The proposed sensor demonstrated a considerably improved cross-talk error performance compared with existing force sensors.
本研究开发了一种新型六轴力/力矩（F/M）传感器。该传感器具有新颖的环形结构，包括带有滑动和旋转机构的横梁弹性体，以实现完全解耦。独特的滑动和旋转机构可以减少由于结构互连最小化而引起的串扰效应。根据附接到横梁上的应变计的弹性变形，可以测量六轴 F/M 传感器的力 和 以及力矩 和 。在此，我们提供了数学模型、模型理想化、模型创建以及机械解耦原理的详细描述。本文还基于铁木辛柯梁理论对基于应变的理论进行了分析，并通过将分析结果与使用有限元分析模拟进行的数值分析结果进行比较，验证了分析结果。对传感器进行了实验测试，以在不同负载下获得以下六个方向的最大串扰误差（误差以括号内的形式给出）： 在 下（2.12%）， 在 下（1.88%）， 在 下（2.02%）， 在 下（1.15%）， 在 下（1.80%），以及 在 下（2.63%）。与现有力传感器相比，所提出的传感器表现出了相当大的改进的串扰误差性能。
