Development of planar parallel and over restraint three-component force/torque sensor

ZHAO Yan-zhi; ZHANG Cai-feng; YANG Zhen-zhen; LIU Xiao-xiao; ZHAO Tie-shi

doi:10.3788/OPE.20162404.0954

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Development of planar parallel and over restraint three-component force/torque sensor

更新时间：2020-08-13

- Development of planar parallel and over restraint three-component force/torque sensor
- Optics and Precision Engineering Vol. 24, Issue 4, Pages: 954-961(2016)
- 作者机构：
  
  1. 燕山大学河北省并联机器人与机电系统实验室,河北秦皇岛,066004
  2. 燕山大学先进锻压成形技术与科学教育部重点实验室,河北秦皇岛,066004
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20162404.0954
  CLC： TP212.12;TH133.3
- Received：14 July 2015，
  
  Revised：20 August 2015，
  
  Published：25 April 2016
- 稿件说明：
移动端阅览
赵延治, 张彩凤, 杨真真等. 过约束平面并联三维力/力矩传感器的研制[J]. 光学精密工程, 2016,24(4): 954-961

ZHAO Yan-zhi, ZHANG Cai-feng, YANG Zhen-zhen etc. Development of planar parallel and over restraint three-component force/torque sensor[J]. Editorial Office of Optics and Precision Engineering, 2016,24(4): 954-961
赵延治, 张彩凤, 杨真真等. 过约束平面并联三维力/力矩传感器的研制[J]. 光学精密工程, 2016,24(4): 954-961 DOI： 10.3788/OPE.20162404.0954.

ZHAO Yan-zhi, ZHANG Cai-feng, YANG Zhen-zhen etc. Development of planar parallel and over restraint three-component force/torque sensor[J]. Editorial Office of Optics and Precision Engineering, 2016,24(4): 954-961 DOI： 10.3788/OPE.20162404.0954.

摘要

针对轴承的故障早期诊断和在线实时监测

提出了一种新型过约束平面并联三维力/力矩传感器。通过采用分支轴线均不过传感器中心的6条对称分布的测力分支

该传感器可同时测量轴承径向载荷和轴向力矩。根据静力学平衡方程

求解了其测量数学模型;基于传感器测量模型与性能指标分析了传感器性能

进而对其各结构参数进行优化设计。研制了传感器样机及其加载标定实验系统

开展了加载标定实验

得到了该传感器的测量精度。标定实验结果显示:传感器径向力测量精度为2.56%

力矩测量精度为0.92%

Ⅰ类误差为2.56%

最大Ⅱ类误差为2.29%。文中所做工作

为将该新型过约束平面并联三维力/力矩传感器应用于在线实时测量轴承径向载荷和轴向摩擦力矩奠定了基础。

Abstract

To achieve early diagnosis and online real-time monitoring of faults for a bearing

a new type of over constraint three-dimension force and moment sensor was put forward. By adopting six symmetrical distribution load branches which all did not pass their centers

the sensor could simultaneously measure the bearing radial load and axial moment. According to the static equilibrium equation

the mathematical model of measurement was established. Based on sensor measurement model and performance index

the performance of the sensor was analyzed

and the structure parameters were optimized. Then a sensor prototype and its load calibration experiment system were developed. Meanwhile

the load calibration experiment was carried out

and the measuring accuracy of the sensor was obtained.The calibration experiment shows that the radial force measuring accuracy is 2.56%

torque measurement accuracy is 0.92%

type I error is 2.56%

and the maximum of type Ⅱ error is 2.29%.The work lays a foundation for the applications of new constraint planar parallel three dimensional force/torque sensor to the online real-time measurements of bearings on radial loads and axial friction torques.

关键词

Keywords

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