Dynamic mathematical modeling and performance analysis for the six-axis piezoelectric force sensor

被引：0
|
作者：
Zhang Y. [1 ]
Wang J. [1 ]
Dang J. [1 ]
Wang W. [1 ]
机构：
[1] XI’an Aerospace Precision Electromechanical Institute, XI’an
来源：
Zhongguo Guanxing Jishu Xuebao/Journal of Chinese Inertial Technology | 2023年 / 31卷 / 05期
关键词：
active analysis; mathematical model; method of atlas; six axis force sensor;
D O I：
10.13695/j.cnki.12-1222/o3.2023.05.008
中图分类号：
学科分类号：
摘要：
Aiming at the problems of low natural frequency and small dynamic range of the current six axis force sensor, a self-pretension piezoelectric six axis force sensor is designed and its performance is analyzed. The dynamic theoretical and mathematical model of the sensor is established, based on the established mathematical model, the changes between sensitivity, natural frequency and the sensor structural parameters of four-dimensional atlas are drawn, the variation of sensitivity and natural frequency with the structural parameters of the sensor is obtained based on method of atlas. A six-dimensional piezoelectric force sensor based on several groups of quartz wafers is developed and tested. The test results show that the designed six-dimensional force sensor has a natural frequency of 9.6 KHz and a dynamic measurement range of 3.2 KHz, which is larger than the dynamic range of the elastic six-dimensional force sensor lower than 2 KHz. It is verified that the designed six-dimension force sensor has higher natural frequency and larger dynamic range, which can meet the requirements of high dynamic range better. © 2023 Editorial Department of Journal of Chinese Inertial Technology. All rights reserved.
引用
收藏
页码：481 / 489
页数：8
相关论文
共 12 条
  • [1] Wang Y, Zuo G, Liu L., Strain analysis of six-axis force/torque sensors based on analytical method, IEEE Sensors Journal, 17, 14, pp. 4394-4404, (2017)
  • [2] Fu L, Song A., Dynamic characteristics analysis of the six-axis force/torque sensor, Journal of Sensors, pp. 1-11, (2018)
  • [3] Li Y, Wang G, Yang X., Research on static decoupling algorithm for piezoelectric six axis force/torque sensor based on lssvr fusion algorithm, Mechanical Systems and Signal Processing, 110, pp. 509-520, (2018)
  • [4] Wang W, Jiang Z, Sun W, Et al., A compact piezoelectric accelerometer and its application in vector hydrophones, Journal of Chinese Inertial Technology, 30, 5, pp. 631-637, (2022)
  • [5] Akbari H, Kazerooni A., Improving the coupling errors of a maltese cross-beams type six-axis force/moment sensor using numerical shape-optimization technique, Measurement, 126, pp. 342-355, (2018)
  • [6] Kebede G A, Ahmad A R., Decoupled six-axis force–moment sensor with a novel strain gauge arrangement and error reduction techniques, Sensors, 19, 13, (2019)
  • [7] Fu L, Song A., A polyetheretherketone six-axis force/torque sensor, IEEE Access, 7, pp. 105391-105401, (2019)
  • [8] Li C, Zhang C., Analysis of the structure for the six-axis force sensor, Observation and control technology, 39, 5, pp. 41-48, (2020)
  • [9] Chavez F, Traversaro S., Six-axis force torque sensor model-based in situ calibration method and its impact in floating-based robot dynamic performance, Sensors, 19, 24, (2019)
  • [10] Wang Z, Yao J., Statically determinate measurement model and calibration method of statically indeterminate six-axis force sensor, 34, 9, pp. 1927-1933, (2013)
12