Wireless six-dimensional force sensor for motion mechanics measurement

Aiming at the problems of big volume, cumbersome operation and complex application scenariocommonly existing in current six-dimensional force sensor, a miniaturized wireless six-dimensional force sensor is designedbased on resistance strain principle in this study. Firstly, the elastomer of the sensorwas designed based on cross beam structure, ANSYS software was used to perform structure statics analysis and the optimal structure dimensions of the sensor were determined. Secondly, based on the design requirements of sensor miniaturization and wireless transmission, the internal hardware circuit of the sensor was designed, including four-arm-full-bridge circuit, two-stage amplification circuit and data acquisition and transmission circuit,which effectively reduces the volume of the sensor and enhances the flexibility.Finally, the static calibration methodwas designed and optimized, and the static decoupling algorithm based on coupling error modeling was adopted to reduce the inter-dimensional coupling interference of the sensor and improve the measurement accuracy of the sensor.The experiment results show that the indoor wireless transmission distance of the sensor reaches to 8 m, the transmission rate satisfies the low/medium-frequency force/torque signal measurement requirement, and the type I and II errors satisfy the requirementofhigh precision applications. © 2019, Science Press. All right reserved.