| 超薄六维力/力矩传感器优化设计及其解耦 |
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| 引用本文： | 梁桥康,王耀南.超薄六维力/力矩传感器优化设计及其解耦[J].湖南大学学报(自然科学版),2012,39(6):53-57. |
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| 作者姓名： | 梁桥康 王耀南 |
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| 作者单位： | 湖南大学电气与信息工程学院 |
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| 基金项目： | 国家自然科学基金资助项目(61175075);中央高校基本科研业务费资助项目;中国博士后科学基金资助项目(2012MS10189) |
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| 摘 要： | 为降低六维力/力矩传感器的高度尺寸对基座和驱动部件引起的附加力矩,结合有限元分析法、SDO方法和神经网络方法,设计了一种新型的基于应变检测原理的超薄六维力/力矩传感器,其高度尺寸可控制在15mm以内.为进一步提高设计的六维力/力矩传感器的精度,对其进行非线性维间解耦和标定,实验结果表明,传感器精度性能优良,最大线性度误差为0.15%F.S.,其设计和优化过程正确合理,最大耦合误差为1.6%F.S.,各维在满量程时的输出相等,具有各维同性.
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| 关 键 词： | 优化设计 六维力/力矩传感器 非线性解耦 神经网络 |
Optimal Design of a Thin Six-dimensional F/T Sensor and its Nonlinear Decoupling |
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| LIANG Qiao-kang,WANG Yao-nan.Optimal Design of a Thin Six-dimensional F/T Sensor and its Nonlinear Decoupling[J].Journal of Hunan University(Naturnal Science),2012,39(6):53-57. |
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| Authors: | LIANG Qiao-kang WANG Yao-nan |
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| Institution: | (College of Electrical and Information Engineering,Hunan Univ,Changsha,Hunan 410082,China) |
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| Abstract: | In order to decrease the additional moment caused by the height dimension of the six-dimensional F/T sensors,a novel thin six-dimensional F/T sensor with its height dimension below 15 mm was designed based on strain measurement with FEA,SDO,and ANN methods.Nonlinear decoupling and calibration of the sensor was performed to increase the performance of the sensor.The results of the calibration experiment show that the developed sensor possesses high performances and the design and optimization are rational,and its maximum nonlinearity error and the maximum coupling error are 0.15%F.S.and 1.6%F.S.respectively. |
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| Keywords: | optimal design six-dimensional force/torque sensor nonlinear decoupling neural networks |
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