CN114812908B - eight-branch orthogonal parallel six-component force sensor and structure optimization method thereof - Google Patents
eight-branch orthogonal parallel six-component force sensor and structure optimization method thereof Download PDFInfo
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- 238000005520 cutting process Methods 0.000 claims description 32
- 238000004088 simulation Methods 0.000 claims description 9
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
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- G—PHYSICS
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- G06F—ELECTRIC DIGITAL DATA PROCESSING
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- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
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- G06F2111/00—Details relating to CAD techniques
- G06F2111/06—Multi-objective optimisation, e.g. Pareto optimisation using simulated annealing [SA], ant colony algorithms or genetic algorithms [GA]
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Abstract
the invention discloses an eight-branch orthogonal parallel six-component force sensor and a structure optimization method thereof, which can measure the full force information of a certain point in space, namely Fx、Fy、Fz、Mx、MyAnd MzThe sensor is divided into four horizontal force branches and four vertical force branches, each force branch consists of a flexible hinge and a tension-compression sensor, and the force branches are uniformly arranged. The upper platform is used for loading force, the lower platform is used for fixing, and the upper platform and the lower platform are connected with the force measuring branch through bolts. The principle of the invention is that six-component force is converted to eight branches, and the axial force of each branch is obtained by adopting a standard single-dimensional tension pressure sensor, so that compared with a patch type six-component force sensor, the patch type six-component force sensor avoids errors caused by a patch method. And a multi-objective optimization algorithm is adopted to optimize the characteristic dimension of the flexible hinge part of the sensor, so that the coupling of forces between the dimensions is structurally reduced.
Description
Technical Field
the invention relates to the technical field of sensors, in particular to a six-component force sensor capable of reducing crosstalk coupling of components.
Background
The six-component force sensor being a sensor for measuring full force information, i.e. F at a point in spacex、Fy、Fz、Mx、MyAnd MzThree forces and three moments. The method is widely applied to the fields of intelligent robots, intelligent manufacturing, aerospace and the like, and the accuracy of measurement directly influences industrial production. At present, various scientific research institutions develop researches on six-component force sensors, and the designed six-component force sensors are various and have respective advantages and disadvantages, but the problem of coupling crosstalk among the component forces still needs to be further researched.
The main reason for influencing the accuracy of the six-component force sensor is that coupling exists between the component forces during measurement, so that the key to improving the accuracy is to decouple the component forces to reduce the coupling. The decoupling is divided into two parts, namely hardware decoupling and software decoupling, wherein the hardware decoupling is the basis of the software decoupling, and the hardware decoupling optimizes the sensor structure and reduces the force/moment coupling of force in the internal transmission process of the sensor.
Disclosure of Invention
The invention provides an orthogonal parallel six-component force sensor based on a flexible hinge, and a structure optimization method is described in order to reduce the crosstalk problem of each component force during measurement.
The technical scheme for realizing the invention is as follows: the eight-branch orthogonal parallel six-component force sensor is characterized in that a flexible hinge is connected with a single-dimensional tension sensor to form force measuring branches, wherein the total number of the force measuring branches is 8, the force measuring branches are vertically arranged, the number of the force measuring branches is 4, and the force measuring branches are horizontally arranged and are uniformly distributed in the circumferential direction, and the vertical direction and the horizontal direction are orthogonal; the lower platform connecting block and the upper platform connecting block are perpendicular to the connected force measuring branch; the upper platform is parallel to the lower platform. The flexible hinge of the force measuring branch is connected with a single-dimensional tension pressure sensor through a bolt, the lower platform connecting block is connected with the lower platform through a bolt, the upper platform connecting block is connected with the upper platform through a bolt, the horizontal force measuring branch is connected with the upper platform connecting block and the lower platform connecting block through bolts, and the vertical force measuring branch is connected with the upper platform and the lower platform through bolts;
The front surface of the flexible hinge is provided with a through forward through hole and a through forward cutting groove, and the side surface of the flexible hinge is provided with a through lateral through hole and a lateral cutting groove; the 4 corners of the upper platform are provided with countersunk through holes for fixing the upper platform connecting blocks, countersunk through holes for fixing the flexible hinges, positioning holes and through holes; the lower platform is provided with a countersunk through hole for fixing the hinge connecting block, a threaded through hole for connecting the single-dimensional tension pressure sensor and a through hole for fixing the lower platform.
further, the number of the force measuring branches is 8, and the vertical force measuring branches are perpendicular to the horizontal force measuring branches.
further, the upper platform connecting block is of a U-shaped structure, and the vertical flexible hinge is contained in the opening of the upper platform connecting block but is not in contact with the inner wall of the upper platform connecting block with a gap.
Further, the upper platform and the lower platform are arranged in parallel.
Further, the flexible hinge is provided with a through forward through hole and a through lateral through hole, the two pairs of forward through holes and the through lateral through holes are respectively positioned in the middle of the hinge and are symmetrically distributed by taking a central shaft of the hinge as a center, and the forward through holes and the through lateral through holes are orthogonal.
further, a pair of through forward cutting grooves and a pair of side cutting grooves are formed in the flexible hinge, the forward cutting grooves are arranged in a V shape obliquely upwards at 45 degrees with the horizontal direction, the side cutting grooves are arranged in an inverted V shape obliquely downwards at 45 degrees with the horizontal direction, and the central shaft of the through hole is arranged on the central surface of the cutting groove.
Further, the forward through hole and the lateral through hole of the flexible hinge are in a notched right circular shape.
Further, the forward cutting groove and the lateral cutting groove of the flexible hinge are parallel to each other in the two planes in the cutting groove.
feature size optimization is carried out on the flexible hinge (2), the optimized variables are the diameters of the forward through holes (7) and the lateral through holes (9), the groove widths of the forward cutting grooves (8) and the lateral cutting grooves (10), and the hole distances between each pair of through holes, and the optimization steps are as follows:
step one, acquiring theoretical force value of force measuring branch of six-component force sensor
According to the strength limit of the six-component force sensor structure, ensuring that each force measuring branch is in a safe working state, giving a rated load value of the six-component force sensor, taking the rated load value as an input value, and solving an axial force theoretical value born by each force measuring branch by using a spiral theory.
step two, acquiring simulation output values of force measuring branches of six-component force sensor
In actual use, the force measuring branch is not only subjected to theoretical axial force, and an axial force simulation value close to a true value needs to be obtained through a finite element simulation method. And (3) taking each characteristic size of the flexible hinge (2) as a variable, taking the rated load value given in the step one as an input value, and respectively carrying out finite element analysis on six-component force sensor models under different characteristic sizes by using a finite element analysis method to extract the axial force value of each force measuring branch.
step three, six component force sensor structure optimization target
And (3) subtracting the axial force values of the force measuring branches under different characteristic sizes obtained in the step (II) from the theoretical force values of the force measuring branches in the step (I) to obtain error values, wherein each characteristic size value corresponds to 8 error values, and performing multi-objective optimization by taking the minimum error value of each force measuring branch as an optimization target to obtain the characteristic size value of the optimal flexible hinge (2) so as to reduce the coupling condition of the sensor.
step four, six component force sensor structure optimization
And (3) respectively carrying out normalization processing on the 8 force-measuring branch error values corresponding to each characteristic size value in the third step by adopting a weighting method in a multi-objective optimization algorithm, wherein the weights of the error values corresponding to the force-measuring branches are the same, and converting the multi-objective optimization into single-objective optimization. And obtaining a characteristic dimension value capable of minimizing a target value under the condition of ensuring the conforming strength, namely a final characteristic dimension parameter of the flexible hinge (2).
Furthermore, the eight-branch orthogonal parallel six-component force sensor structure optimization method is characterized in that a Cartesian coordinate system is established on a loading plane of an upper platform of the six-component force sensor, and theoretical force values of force measuring branches of the six-component force sensor obtained by a spiral theory are as follows:
Fx、Fy、Fz、Mx、MyAnd MzFor the rated load value of the six-component force sensor, h is the distance between the axis of the horizontal force measuring branch and the upper platform, b is the distance between the vertical force measuring branch and the x axis or the y axis, and a is the distance between the horizontal force measuring branch and the x axis or the y axis.
The invention provides an eight-branch orthogonal parallel six-component force sensor, which has the following beneficial effects:
1. And the standard single-dimensional tension pressure sensor is adopted to measure the force value of each branch, so that compared with a common external patch type six-component force sensor, the system error caused by artificial patch of a strain gauge on an elastomer is avoided.
2. The flexible hinges of each force measuring branch are provided with the through holes and the cutting grooves, so that the bending rigidity of the flexible hinges is reduced, the flexible hinges can be elastically bent around two mutually perpendicular shafts, the interference of non-axial force suffered by each force measuring branch is reduced, namely the coupling crosstalk of force between dimensions is reduced, and the measurement precision is improved.
3. According to the eight-branch orthogonal parallel six-component force sensor, each single-dimensional pull pressure sensor in the structure is a calibrated sensor, so that the force measurement value of the six-component force sensor can be traced.
4. The upper platform is provided with a plurality of positioning holes and threaded holes, so that the upper platform is convenient to fixedly connect with the tested equipment and the loading equipment.
5. and a multi-objective optimization algorithm is adopted to optimize the size of the flexible hinge structure of the six-component force sensor, so that the coupling is further reduced structurally.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a front view of the structure of the present invention;
FIG. 3 is a cross-sectional view of the structure A-A of the present invention;
In the figure:
1. A top platform; 2. a flexible hinge; 3. a single-dimensional pull pressure sensor; 4. a lower platform connecting block; 5. a lower platform; 6. an upper platform connecting block; 7. a forward through hole; 8. forward grooving; 9. a lateral through hole; 10. lateral grooving; 11. the upper platform is connected with a countersunk through hole for quick fixation; 12. positioning holes; 13. countersunk through holes for fixing the flexible hinges; 14. a threaded through hole; 15. countersunk through holes for fixing the hinge connecting blocks; 16. a threaded through hole for fixing the single-dimensional tension pressure sensor; 17. and a through hole for fixing the lower platform.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions in the embodiments of the present invention will be clearly and completely described in the following in conjunction with the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1 to 3, the structural relationship is as follows: the flexible hinge 2 is connected with the single-dimensional tension pressure sensor 3 to form force measuring branches, wherein the total number of the force measuring branches is 8, the force measuring branches are vertically arranged, the number of the force measuring branches is 4, and the force measuring branches are horizontally arranged and circumferentially uniformly distributed, and the vertical direction is orthogonal to the horizontal branches; the lower platform connecting block 4 and the upper platform connecting block 6 are perpendicular to the connected force measuring branches; the upper platform 1 is parallel to the lower platform 5. The flexible hinge 2 of the force measuring branch is connected with the single-dimensional tension pressure sensor 3 through bolts, the lower platform connecting block 4 is connected with the lower platform 5 through bolts, the upper platform connecting block 6 is connected with the upper platform 1 through bolts, the horizontal force measuring branch is connected with the upper platform connecting block 6 and the lower platform connecting block 4 through bolts, and the vertical force measuring branch is connected with the upper platform 1 and the lower platform 5 through bolts;
The front surface of the flexible hinge 2 is provided with a through forward through hole 7 and a forward cutting groove 8, and the side surface is provided with a through lateral through hole 9 and a lateral cutting groove 10; the rigidity of the flexible hinge is reduced, the crosstalk coupling of each component force can be reduced, the measuring sensitivity of the sensor is improved, and the countersunk through holes 11, 13, 12 and 14 for fixing the upper platform connecting block, the positioning holes and the threaded through holes are arranged at the 4 corners of the upper platform 1; the lower platform 5 is provided with a countersunk through hole 15 for fixing a hinge connecting block, a threaded through hole 16 for fixing a single-dimensional tension pressure sensor and a through hole 17 for fixing the lower platform, and is used for assembling the sensor and installing the tested equipment.
Preferably, the number of force-measuring branches is 8, the vertical direction being perpendicular to the horizontal force-measuring branches.
Preferably, the upper platform connection block 6 has a U-shaped structure, and the vertical flexible hinge 2 is contained in its mouth but is not in contact with its inner wall with a gap. In practical use, the specific form and size of the upper platform connection speed should be designed according to the sizes of the flexible hinge and the single-dimensional tension sensor.
preferably, the upper platform 1 is arranged in parallel with the lower platform 5.
Preferably, the flexible hinge 2 is provided with a through forward through hole 7 and a through lateral through hole 9, the two pairs of forward through holes 7 and the through lateral through holes 9 are located in the middle of the hinge and are symmetrically distributed by taking a central shaft of the hinge as a center, and the forward through holes and the through lateral through holes are orthogonal.
Preferably, the flexible hinge 2 is provided with a pair of through forward cutting grooves 8 and a pair of lateral cutting grooves 10, the forward cutting grooves 8 are arranged in a V shape obliquely upwards at 45 degrees with respect to the horizontal direction, the lateral cutting grooves 10 are arranged in an inverted V shape obliquely downwards at 45 degrees with respect to the horizontal direction, and the central axis of the through hole is arranged on the central surface of the cutting groove.
Preferably, the forward through hole 7 and the lateral through hole 9 of the flexible hinge are in the shape of a notched right circular shape.
Preferably, the forward slot 8 and the lateral slot 10 of the flexible hinge are parallel to each other in the slot.
as shown in fig. 1, the lower platform connection block 4 is not limited in its specific structural form as long as it has sufficient rigidity to effectively support the horizontal force-measuring branch in actual use.
feature size optimization is carried out on the flexible hinge (2), the optimized variables are the diameters of the forward through holes (7) and the lateral through holes (9), the groove widths of the forward cutting grooves (8) and the lateral cutting grooves (10), and the hole distances between each pair of through holes, and the optimization steps are as follows:
step one, acquiring theoretical force value of force measuring branch of six-component force sensor
According to the strength limit of the six-component force sensor structure, ensuring that each force measuring branch is in a safe working state, giving a rated load value of the six-component force sensor, taking the rated load value as an input value, and solving an axial force theoretical value born by each force measuring branch by using a spiral theory.
step two, acquiring simulation output values of force measuring branches of six-component force sensor
In actual use, the force measuring branch is not only subjected to theoretical axial force, and an axial force simulation value close to a true value needs to be obtained through a finite element simulation method. And (3) taking each characteristic size of the flexible hinge (2) as a variable, taking the rated load value given in the step one as an input value, and respectively carrying out finite element analysis on six-component force sensor models under different characteristic sizes by using a finite element analysis method to extract the axial force value of each force measuring branch.
step three, six component force sensor structure optimization target
And (3) subtracting the axial force values of the force measuring branches under different characteristic sizes obtained in the step (II) from the theoretical force values of the force measuring branches in the step (I) to obtain error values, wherein each characteristic size value corresponds to 8 error values, and performing multi-objective optimization by taking the minimum error value of each force measuring branch as an optimization target to obtain the characteristic size value of the optimal flexible hinge (2) so as to reduce the coupling condition of the sensor.
step four, six component force sensor structure optimization
And (3) respectively carrying out normalization processing on the 8 force-measuring branch error values corresponding to each characteristic size value in the third step by adopting a weighting method in a multi-objective optimization algorithm, wherein the weights of the error values corresponding to the force-measuring branches are the same, and converting the multi-objective optimization into single-objective optimization. And obtaining a characteristic dimension value capable of minimizing a target value under the condition of ensuring the conforming strength, namely a final characteristic dimension parameter of the flexible hinge (2).
preferably, the method for optimizing the structure of the eight-branch orthogonal parallel six-component force sensor is characterized in that a Cartesian coordinate system is established on a loading plane of an upper platform of the six-component force sensor, and theoretical force values of force measuring branches of the six-component force sensor obtained by a spiral theory are as follows:
Wherein,
Fx、Fy、Fz、Mx、MyAnd MzFor the rated load value of the six-component force sensor, h is the distance between the axis of the horizontal force measuring branch and the upper platform, b is the distance between the vertical force measuring branch and the x axis or the y axis, and a is the distance between the horizontal force measuring branch and the x axis or the y axis.
The previous description of the embodiments is provided to facilitate a person of ordinary skill in the art in order to make and use the present invention. It will be apparent to those skilled in the art that various modifications can be readily made to these embodiments and the generic principles described herein may be applied to other embodiments without the use of the inventive faculty. Therefore, the present invention is not limited to the embodiments described herein, and those skilled in the art, based on the present disclosure, should make improvements and modifications without departing from the scope of the present invention.
Claims (10)
1. An eight-branch orthogonal parallel six-component force sensor is characterized in that: the flexible hinge (2) is connected with the single-dimensional tension pressure sensor (3) to form force measuring branches, wherein the force measuring branches are 8 in number, 4 are vertically arranged, and 4 are horizontally arranged and are circumferentially uniformly distributed, and the vertical direction is orthogonal to the horizontal branches; the lower platform connecting block (4) and the upper platform connecting block (6) are perpendicular to the connected force measuring branch; the upper platform (1) is parallel to the lower platform (5); the flexible hinge (2) of the force measuring branch is connected with the single-dimensional tension pressure sensor (3) through bolts, the lower platform connecting block (4) is connected with the lower platform (5) through bolts, the upper platform connecting block (6) is connected with the upper platform (1) through bolts, the horizontal force measuring branch is connected with the upper platform connecting block (6) and the lower platform connecting block (4) through bolts, and the vertical force measuring branch is connected with the upper platform (1) and the lower platform (5) through bolts;
The front surface of the flexible hinge (2) is provided with a through positive through hole (7) and a positive cutting groove (8), and the side surface is provided with a through lateral through hole (9) and a lateral cutting groove (10); the four corners of the upper platform (1) are provided with countersunk through holes (11) for fixing the upper platform connecting blocks, countersunk through holes (13) for fixing the flexible hinges, positioning holes (12) and threaded through holes (14); the lower platform (5) is provided with a countersunk through hole (15) for fixing a hinge connecting block, a threaded through hole (16) for fixing a single-dimensional tension pressure sensor and a through hole (17) for fixing the lower platform.
2. An eight-branch orthogonal parallel six-component force sensor according to claim 1, wherein: the number of the force measuring branches is 8, and the vertical force measuring branches are perpendicular to the horizontal force measuring branches.
3. An eight-branch orthogonal parallel six-component force sensor according to claim 1, wherein: the upper platform connecting block (6) is of a U-shaped structure, and the vertical flexible hinge (2) is contained in the opening of the upper platform connecting block but is in clearance with the inner wall of the upper platform connecting block and is not in contact with the inner wall of the upper platform connecting block.
4. an eight-branch orthogonal parallel six-component force sensor according to claim 1, wherein: the upper platform (1) and the lower platform (5) are arranged in parallel.
5. An eight-branch orthogonal parallel six-component force sensor according to claim 1, wherein: the flexible hinge (2) is provided with a through positive through hole (7) and a lateral through hole (9), the two pairs of positive through holes (7) and the lateral through holes (9) are respectively positioned in the middle of the hinge and are symmetrically distributed by taking a central shaft of the hinge as a center, and the positive through holes and the lateral through holes are orthogonal.
6. An eight-branch orthogonal parallel six-component force sensor according to claim 1, wherein: the flexible hinge (2) is provided with a pair of through forward cutting grooves (8) and a pair of lateral cutting grooves (10), the forward cutting grooves (8) are arranged in a V shape obliquely upwards at 45 degrees with the horizontal direction, the lateral cutting grooves (10) are arranged in an inverted V shape obliquely downwards at 45 degrees with the horizontal direction, and the central axis of the through hole is arranged on the central surface of the cutting groove.
7. an eight-branch orthogonal parallel six-component force sensor according to claim 1 or 2, characterized in that: the forward through hole (7) and the lateral through hole (9) of the flexible hinge are in a notched right circular shape.
8. An eight-branch orthogonal parallel six-component force sensor according to claim 1 or 3, characterized in that: the forward cutting groove (8) and the lateral cutting groove (10) of the flexible hinge are parallel to each other in the two planes in the cutting groove.
9. an eight-branch orthogonal parallel six-component force sensor according to claim 1, characterized in that the flexible hinge (2) is feature size optimized with the variables of the aperture of the forward through hole (7) and the lateral through hole (9), the slot widths of the forward slot (8) and the lateral slot (10), and the pitch between each pair of through holes, the optimization steps being as follows:
step one, acquiring theoretical force value of force measuring branch of six-component force sensor
according to the strength limit of the six-component force sensor structure, ensuring that each force measuring branch is in a safe working state, giving a rated load value of the six-component force sensor, taking the rated load value as an input value, and solving an axial force theoretical value born by each force measuring branch by using a spiral theory;
step two, acquiring simulation output values of force measuring branches of six-component force sensor
When in actual use, the force measuring branch is not only subjected to theoretical axial force, and an axial force simulation value close to a true value is required to be obtained through a finite element simulation method; taking each characteristic size of the flexible hinge (2) as a variable, taking the rated load value given in the step one as an input value, and respectively carrying out finite element analysis on six-component force sensor models under different characteristic sizes by using a finite element analysis method to extract the axial force value of each force measuring branch;
step three, six component force sensor structure optimization target
The axial force values of the force measuring branches under different characteristic sizes obtained in the second step are subtracted from the theoretical force values of the force measuring branches in the first step to obtain error values, each characteristic size value corresponds to 8 error values, multi-objective optimization is carried out by taking the minimum error value of each force measuring branch as an optimization target, and the characteristic size value of the optimal flexible hinge (2) is obtained so as to reduce the coupling condition of the sensor;
step four, six component force sensor structure optimization
the weighting method in the multi-objective optimization algorithm is adopted, normalization processing is carried out on the 8 force-measuring branch error values corresponding to each characteristic size value in the third step, the weights of the error values corresponding to the force-measuring branches are the same, and multi-objective optimization is converted into single-objective optimization; and obtaining a characteristic dimension value capable of minimizing a target value under the condition of ensuring the conforming strength, namely a final characteristic dimension parameter of the flexible hinge (2).
10. The method for optimizing the structure of the eight-branch orthogonal parallel six-component force sensor according to claim 9, wherein a Cartesian coordinate system is established on a loading plane of an upper platform of the six-component force sensor, and theoretical force values of force measuring branches of the six-component force sensor obtained by a spiral theory are as follows:
Wherein,
Fx、Fy、Fz、Mx、MyAnd MzFor the rated load value of the six-component force sensor, h is the distance between the axis of the horizontal force measuring branch and the upper platform, b is the distance between the vertical force measuring branch and the x axis or the y axis, and a is the distance between the horizontal force measuring branch and the x axis or the y axis.
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| CN114812908A (en) | 2022-07-29 |
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