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Dynamic characterization of six-dimensional force sensors based on thin plates and Bernoulli-Euler beam theory
- Categories:Technical knowledge
- Time of issue:2020-04-03 09:22
(Summary description)Six-dimensional force sensors can measure force and moment information in three directions in three-dimensional space and play an important role in robot sensing and control. The dynamic characteristics of the sensor include the time domain characteristics and the frequency domain characteristics. Among them, the intrinsic frequency and the modal vibration characteristics are important parameters of the dynamic characteristics of the sensor in the frequency domain. The article establishes the dynamic mathematical model of each module of the sensor based on the theory of thin plate and Bernoulli-Euler beam in elastic mechanics, and analyzes the first-order intrinsic frequency and main vibration pattern in each direction to provide theoretical reference for the in-depth study of the dynamic characteristics of the sensor.
Dynamic characterization of six-dimensional force sensors based on thin plates and Bernoulli-Euler beam theory
(Summary description)Six-dimensional force sensors can measure force and moment information in three directions in three-dimensional space and play an important role in robot sensing and control. The dynamic characteristics of the sensor include the time domain characteristics and the frequency domain characteristics. Among them, the intrinsic frequency and the modal vibration characteristics are important parameters of the dynamic characteristics of the sensor in the frequency domain. The article establishes the dynamic mathematical model of each module of the sensor based on the theory of thin plate and Bernoulli-Euler beam in elastic mechanics, and analyzes the first-order intrinsic frequency and main vibration pattern in each direction to provide theoretical reference for the in-depth study of the dynamic characteristics of the sensor.
- Categories:Technical knowledge
- Time of issue:2020-04-03 09:22
- Views:
Six-dimensional force sensors can measure force and moment information in three directions in three-dimensional space and play an important role in robot sensing and control. The dynamic characteristics of the sensor include the time domain characteristics and the frequency domain characteristics. Among them, the intrinsic frequency and the modal vibration characteristics are important parameters of the dynamic characteristics of the sensor in the frequency domain. The article establishes the dynamic mathematical model of each module of the sensor based on the theory of thin plate and Bernoulli-Euler beam in elastic mechanics, and analyzes the first-order intrinsic frequency and main vibration pattern in each direction to provide theoretical reference for the in-depth study of the dynamic characteristics of the sensor.
The development of six-dimensional force sensors began in the 1970s, and the research in this field in China started in the late 1980s. At the early stage of research, the six-dimensional force sensor mainly consisted of a continuous structure of elastomer, and the sensitive deformation of the elastomer was composed of thin rods or elastic beams, which could not achieve a good performance ratio in coupling and accuracy. To address this problem, based on previous research experience, the Institute of Intelligent Research of the Chinese Academy of Sciences Hefei has designed a double-E type six-dimensional force sensor based on thin plate and Bernoulli-Euler beam structure, which has the advantages of high measurement accuracy, small elastomer coupling and good output linearity and has been widely used. Due to the late development of the double-E six-dimensional force transducer and the unavailability of dynamic characteristics measurement equipment in the frequency domain of the transducer, the dynamic model of this type of transducer and the modal characteristic values for theoretical study have not been established. In this paper, we analyze and study the intrinsic frequency and mode shape of this sensor based on the nodal line and nodal circle theorems in the plate and shell and Bernoulli beam principles, and conduct experimental demonstration using ANSYS software to provide a reference for future research on six-dimensional force sensors in this field.
The dynamic mathematical model of the double-E beam six-dimensional force transducer has not been established due to its late development. In this paper, the dynamic mathematical model and the first-order intrinsic frequencies in each direction are derived from the nodal line and nodal circle theorems of the thin plate and Bernoulli-Euler beam theorem, and verified by ANSYS software. The software analysis proves that the computation of the intrinsic frequency and the principal vibration pattern of the sensor are correct, which provides a theoretical reference for the further study of the dynamic characteristics of the sensor.
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