Design of six-axis force piezoelectric sensor with spoke structure

被引：0
|
作者：
Xu X.-S. [1 ]
Li Y.-J. [1 ]
Wang G.-C. [1 ]
Sun X. [1 ]
Sun Y. [1 ]
机构：
[1] School of Mechanical Engineering, University of Jinan, Jinan
来源：
Guangxue Jingmi Gongcheng/Optics and Precision Engineering | 2020年 / 28卷 / 12期
关键词：
Dimensional coupling; Multi-point measurement principle; Piezoelectric quartz; Six-axis force sensor; Spoke;
D O I：
10.37188/OPE.20202812.2655
中图分类号：
学科分类号：
摘要：
Aiming at the robot's feedback to the working environment for realizing automatic operation, a piezoelectric six-axis force sensor was designed. Specifically, an eight-fulcrum spoke six-axis force sensor structure combined with the principle of multipoint measurement was proposed herein. Quartz was employed as the piezoelectric material in the force-sensing device. The advantage of such a sensor is its strong decoupling, light weight, large range, and high natural frequency. The parametric modeling of this sensor was carried out using the ANSYS finite element software. The measurement principle of the eight-fulcrum sensor's feasibility was verified through a six-axis force quasi-static simulation. Moreover, a quasi-static and dynamic calibration experimental platform was built to conduct the calibration experiment. The experimental results show that for the proposed sensor, the nonlinearity is less than 0.5%, inter-dimensional interference is more than 4%, and natural frequency is over 6 kHz. From the theoretical analysis and experimental results, we confirmed that the sensor structure could complete the six-axis force measurement and that the coupling between the dimensions was eliminated. The demand for dynamic measurement was thus fulfilled. The proposed sensor's structure provides the theoretical and design bases for the design of lightweight large range sensors, which is of important reference significance for the design and development of other types of piezoelectric six-axis force sensors. © 2020, Science Press. All right reserved.
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页码：2655 / 2664
页数：9
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