双层预紧式六维力传感器动态性能的理论与实验研究

对一种新型的双层预紧式六维力传感器进行了动态性能理论分析与实验研究。首先介绍了双层预紧式六维力传感器的结构特点。建立了该传感器的振动系统简化模型,基于螺旋理论和多自由度系统振动学推导了系统的运动微分方程。经过对运动微分方程进行求解,得到了传感器的各阶固有频率。最后采用阶跃响应法对传感器样机进行动态性能实验研究,经过快速傅里叶变换得到了传感器的频率响应曲线。实验结果与理论计算结果一致,从而验证了理论推导的正确性。研究结果表明,双层预紧式六维力传感器的动态性能较好,能够满足一般工业生产中对六维力测量的要求。

Theoretical and experimental study on dynamic performance of a double-layer pre-stressed six-axis force sensor

For a novel double-layer pre-stressed six-axis force sensor,the theoretical analysis and experimental study of dynamic performance are carried out.Firstly,structural characteristics of the double-layer pre-stressed six-axis force sensor are introduced.Then,the vibration system model of the sensor is established and the motion differential equation of the vibration system is deduced based on screw theory and multi-degree-of-freedom system vibration mechanics.The natural frequencies of the sensor are obtained by solving the differential equations of motion.Finally,dynamic performance experimental study of the sensor is conducted using step response method and the frequency response curves are obtained by FFT.The experiment results are consistent with the theoretical calculations,which verify the correctness of the theoretical analysis.The results show that the double-layer pre-stressed six-axis force sensor possesses good dynamic performance and can meet the requirements of six-dimensional force measurement in general industrial production.