Dynamic characteristics of piezoelectric six-dimensional heavy force/moment sensor for large-load robotic manipulator

被引：46
作者：
Li, Ying-jun [1 ,2 ]
Wang, Gui-cong [1 ]
Zhang, Jun [3 ]
Jia, Zhen-yuan [3 ]
机构：
[1] Univ Jinan, Coll Mech Engn, Jinan 250022, Peoples R China
[2] Nanjing Univ Sci & Technol, Sch Mech Engn, Nanjing 210094, Jiangsu, Peoples R China
[3] Dalian Univ Technol, Sch Mech Engn, Dalian 116024, Peoples R China
来源：
MEASUREMENT | 2012年 / 45卷 / 05期
关键词：
Industrial robot; Six-dimensional force/moment sensor; Piezoelectric; Dynamic characteristic; Real-time measurement; FORCE SENSOR; DESIGN; FABRICATION;
D O I：
10.1016/j.measurement.2012.01.028
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
This paper presents research on dynamic characteristics of a piezoelectric six-dimensional heavy force/moment sensor for a large-load robotic manipulator. The theory on dynamic characteristics of the sensor structure is analyzed, and a mathematical model of the sensor dynamics, decoupled into separate vibration modes, is provided. This model is complemented by dynamic mode analysis of the sensor by finite-element modeling (FEM; ANSYS software). A dynamic calibration experiment is designed, and methods and principles for measurements and data analysis are provided. The characteristic dynamic vibration modes of the piezoelectric force/moment sensor are extracted by analyzing experimental data, yielding amplitude frequency and phase frequency curves of the transfer function linking the excitation loads with the output signals of the transducer. The results of the dynamic calibration experiment demonstrate the good dynamic characteristics of the piezoelectric six-dimensional heavy force/moment sensor. The natural frequencies in the three force directions are high, with values close 2000 Hz. This demonstrates the applicability of the presented six-dimensional heavy force/moment sensor to large industrial robotic manipulators. (C) 2012 Elsevier Ltd. All rights reserved.
引用
收藏
页码：1114 / 1125
页数：12
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