面向运动力学测量的无线六维力传感器
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摘要
针对目前六维力传感器普遍存在的体积偏大、操作繁琐、应用场景复杂的问题,设计了一种基于电阻应变原理的小型化无线六维力传感器。首先,基于十字横梁结构设计传感器的弹性体,并通过ANSYS软件进行结构静力学分析,确定了传感器的最优结构尺寸;其次,基于传感器小型化和无线传输的设计要求,设计了传感器的内部硬件电路,包括四等臂全桥电路、两级放大电路以及数据采集与传输电路,有效减小了传感器的体积,增强了灵活性;最后,设计并优化了静态标定方法及静态解耦算法,降低了传感器的维间耦合干扰,提高了测量精度。实验结果表明,该传感器室内无线传输距离达到8 m,传输速率满足中低频力信号测量,Ⅰ类与Ⅱ类误差均满足在高精度要求场合的使用。
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.
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.
引文
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[23]王伟敏,范学忠.基于TL084C的心电信号检测系统设计[J].电子元器件应用,2010,12(6):24-26,30.WANG W M, FAN X ZH. Design of ECG signal detection system based on TL084C[J]. Electronic Component&Device Applications,2010,12(6):24-26,30.
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[26]武秀秀,宋爱国,王政.六维力传感器静态解耦算法及静态标定的研究[J].传感技术学报,2013,26(6):851-856.WU X X,SONG AI G,WANG ZH. The study on static decoupling algorithm for six-axis force sensor and static calibration[J]. Chinese Journal of Sensors and Actuators,2013,26(6):851-856.
[2]张晨.多维力传感器的研究现状分析[J].北方工业大学学报,2017,29(2):86-93ZHANG CH. The analysis of the current research status onmultidimensional force sensor[J]. Journal of North China University of Technology,2017,29(2):86-93
[3]杨双龙,徐科军,舒张平,等,应变式多维力传感器的故障诊断方法与实现[J].电子测量与仪器学报,2016,30(9):1361-1371.Yang SH L,XU K J,SHU ZH P,et al. Fault diagnosis method and realization for strain gauge multi-axis force sensor[J]. Journal of Electronic Measurement and Instrument,2016,30(9):1361-1371.
[4] LI Y J, WANG G C, ZHANG J, et al. Dynamic characteristics of piezoelectric six-dimensional heavy force/moment sensor for large-load robotic manipulator[J]. Measurement, 2012, 45(5):1114-1125.
[5] GIOVINAZZO G,VARRONE P. Transducer with six degrees of freedom:US,US4320392[P].1982.
[6]钟晓玲,张晓霞.面向机器人的多维力/力矩传感器综述[J].传感器与微系统,2015,34(5):1-4.ZHONG X L,ZHANG X X. Review of multi-dimensions force/torque sensor for robots[J]. Transducer and Microsystem Technologies,2015,34(5):1-4.
[7] HIROSE S,YONEDA K. Development of optical sixaxial force sensor and its signal calibration considering nonlinear interference[C].IEEE International Conference on Robotics&Automation,1990.
[8]中国科学院合肥智能机械研究所.一种基于陶瓷厚膜技术的六维力传感器:中国,CN00119096. 2[P].2001.Institute of Intelligent Machines,Chinese Academy of Sciences. Six-dimensional force sensor based on ceramic thick film technology:China,CN00119096. 2[P].2001.
[9] WATSON P C,DRAKE S H. Method and apparatus for six degree of freedom force sensing:US,US4094192[P].1978
[10] CHEN D,SONG A,LI A. Design and calibration of a sixaxis force/torque sensor with large measurement range used for the space manipulator[J]. Procedia Engineering,2015(99):1164-1170.
[11]刘晓宇,盖广洪. Stewart六维力传感器解耦算法优化[J].传感技术学报,2018,31(12):1858-1861,1868.LIU X Y, GAI G H. Optimization of stewart sixdimensional force sensor decoupling algorithm[J].Chinese Journal of Sensors and Actuators,2018,31(12):1858-1861,1868.
[12]刘齐,徐斌,刘晓敏,等.六维力传感器标定及其在气动柔性手指上应用[J].吉林化工学院学报,2018,35(9):50-53.LIU Q,XU B,LIU X M,et al. Six-dimensional force sensor calibration and itsapplication in pneumatic flexible finger[J]. Journal of Jilin Institute of Chemical Technology,2018,35(9):50-53.
[13]郝悦.电容式四维测力刀柄性能测试技术研究[D].哈尔滨:哈尔滨工业大学,2016.HAO Y. Research on performance testing for capacitive four-dimensional force-measuring tool holder[D].Harbin:Harbin Institute of Technology,2016.
[14] KIM G S,SHIN H J,YOON J. Development of 6-axis force/moment sensor for a humanoid robot's intelligent foot[J] Sensors and Actuators A:Physical, 2008,141(2):276-281.
[15]齐亚州.小工作空间压电式六维力传感器研究[D].大连:大连理工大学,2017.QI Y ZH. Research on Piezoelectric six-dimensional force sensor in small working space[D]. Dalian:Dalian University of Technology,2017.
[16]赵敏,钱堃,马旭东.机器人柔顺抓放技术与应用[J].工业控制计算机,2016,29(3):74-76.ZHAO M, QIAN K, MA X D. Application of robot compliant grasping and placing technology[J]. Industrial Control Computer,2016,29(3):74-76.
[17]张强,宋爱国,刘玉庆,等.一种指尖三维力传感器设计[J].计量学报,2018,39(1):52-55.ZHANG Q,SONG AI G,LIU Y Q,et al. Design of a three dimensional force sensor[J]. Acta Metrologica Sinica,2018,39(1):52-55.
[18]屈川,富东慧,侯振德,等.固定结构下的两向力及弯矩传感器设计[J].实验力学,2016,31(5):600-606.QU CH,FU D H,HOU ZH D,et al. On the transducer design for two-component forceand bending moment measurement in a fixed structure[J]. Journal of Experimental Mechanics,2016,31(5):600-606.
[19] VANKO B, STANˇCEK L,ˇCERETKA M, et al.Properties of EN AW-2024 wrought aluminum alloy after casting with crystallization under pressure[J]. Scientific Proceedings Faculty of Mechanical Engineering,2015,23(1):58-65.
[20] PAYO I. Six-axis column-type force and moment sensor for robotic applications[J] IEEE SEnsors Journal,2018,18(17):6996-7003.
[21]李昂.小型多维力传感器设计及应用[D].南京:东南大学,2017.LI ANG. Design and application of miniaturized multidimension force sensor[D]. Nanjing:Southeast University,2017.
[22]张艳秋.零点漂移在差分放大电路中的影响分析[J].计测技术,2017,37(5):51-52.ZHANG Y Q. The impact analyses of zero drift in differential amplifier circuit[J]. Metrology&Measurement Technology,2017,37(5):51-52.
[23]王伟敏,范学忠.基于TL084C的心电信号检测系统设计[J].电子元器件应用,2010,12(6):24-26,30.WANG W M, FAN X ZH. Design of ECG signal detection system based on TL084C[J]. Electronic Component&Device Applications,2010,12(6):24-26,30.
[24]宋爱国,马俊青.基于耦合误差建模的多维力传感器解耦方法:中国,201010168331[P].2010.SONG AI G,MA J Q. Multidimensional force sensor decoupling method based on coupling error modeling:China,201010168331[P].2010
[25]张景柱,郭凯,徐诚.六维力传感器静态解耦算法应用研究[J].传感器与微系统,2007,26(12):58-60.ZHANG J ZH,GUO K,XU CH. Application study on static decoupling algorithms for six-dimensional force sensor[J]. Transducer and Microsystem Technologies,2007,26(12):58-60.
[26]武秀秀,宋爱国,王政.六维力传感器静态解耦算法及静态标定的研究[J].传感技术学报,2013,26(6):851-856.WU X X,SONG AI G,WANG ZH. The study on static decoupling algorithm for six-axis force sensor and static calibration[J]. Chinese Journal of Sensors and Actuators,2013,26(6):851-856.