Abstract
Now the six-axis force sensor (6-AFS) is used widely, and as the core components, mechanical properties of its elastic bodies are significant. With the increase of dynamic loads, studies on dynamic characteristics of the 6-AFS become more and more important. In this paper, the study focuses on the free vibration problem of a novel 6-AFS. The research approach is to decompose the sensor into several separate elastic bodies (four lamellas and upper and lower membranes) and research these elastic bodies respectively. The free vibration of the lamella is studied based on Rayleigh-Ritz method and the separation of variables. The analytical solutions of free vibration of the membranes are deduced according to the nature of Bessel functions. Both the analytical results are simulated with MATLAB. Compared the simulated diagrams with actual situations, they are very close. The mode shapes obtained play a major role in solving the forced vibration of the sensor.
Highlights
Scientists commit themselves to improving the level of intelligent robots because they want to obtain an equipment that can work as human beings
Liang et al used Material Mechanics and finite element method to analyze the relationship of stress-strain of a novel 6-AFS at the State Key Laboratory of Sensor Technology, and determined the cross-coupling through static calibration [4]
An important conclusion was drawn that when the increments of the forces at six directions are the same, the measuring accuracy is ideal, and this conclusion received high attention from researchers at Institute of Intelligent Machines, Chinese Academy of Sciences (CAS) and was seen as one of the bases for the design of multi-axis force sensor (MAFS) [7]
Summary
Scientists commit themselves to improving the level of intelligent robots because they want to obtain an equipment that can work as human beings. A professor at Southeast University, designed a four-axis force sensor with low coupling and analyzed the cross-coupling by using Material Mechanics and finite element method [5]. An important conclusion was drawn that when the increments of the forces at six directions are the same, the measuring accuracy is ideal, and this conclusion received high attention from researchers at Institute of Intelligent Machines, Chinese Academy of Sciences (CAS) and was seen as one of the bases for the design of multi-axis force sensor (MAFS) [7]. Rayleigh-Ritz method and the separation of variables are used to obtain the natural frequencies and the corresponding mode shapes of the Kirchhoff rectangular plate. The natural frequencies and mode shapes deduced will be used to solve the dynamic response of thin plates under harmonic force in follow-up studies
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