Abstract
To address the bottleneck issues of an elastic-style six-axis force/torque sensor (six-axis force sensor), this work proposes a no-elastic piezoelectric six-axis force sensor. The operating principle of the piezoelectric six-axis force sensor is analyzed, and a structural model is constructed. The static-active design theory of the piezoelectric six-axis force sensor is established, including a static analytical/mathematical model and numerical simulation model (finite element model). A piezoelectric six-axis force sensor experimental prototype is developed according to the analytical mathematical model and numerical simulation model, and selected static characteristic parameters (including sensitivity, isotropic degree and cross-coupling) are tested using this model with three approaches. The measured results are in agreement with the analytical results from the static-active design method. Therefore, this study has successfully established a foundation for further research into the piezoelectric multi-axis force sensor and an overall design approach based on static characteristics.
Highlights
A six-axis force sensor is a device designed for measuring external forces and collecting spatial force information from three force components (Fx, Fy, Fz) and three torque components (Mx, My, Mz).Such a device detects the position information of the force functional point
An experimental prototype of the piezoelectric six-axis force sensor was constructed to verify the validity of the piezoelectric six-axis force sensor analytical/mathematical model and numerical simulation model
In Equations (9–11), and are the linear decoupling matrices of the piezoelectric six-axis force sensor obtained via the analytical mathematical model and numerical simulation model, respectively, is the decoupling matrix obtained from the experimental prototype static calibration of the piezoelectric six-axis force sensor, and C66 are the elements of matrix
Summary
A six-axis force sensor is a device designed for measuring external forces and collecting spatial force information from three force components (Fx, Fy, Fz) and three torque components (Mx, My, Mz). Researchers have carried out studies on a non-elastic style six-axis force sensor with component forces acting directly on the sensing elements This sensor uses piezoelectric components as the sensing element and conversion element, and when combined with a multi-point support structure, this device is able to measure the six-axis forces. It is difficult to achieve miniaturization of the sensor For this reason, this work [3] proposes a piezoelectric six-axis force research program based on an eight-point support structure that can deliver miniaturization [10] and enhance the dynamic performance of the sensor. The correctness of the active design theory is verified by the calibration results from the piezoelectric six-axis force sensor experimental prototype, and the conclusions of the study reveal the main factors that affect the six-axis force sensor’s static characteristics
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