Dynamic analysis of double-layer and pre-stressed multi-limb six-axis force sensor①

摘要

In order to adapt to the specific task, the six-axis dynamic contact force between end -effectors of intelligent robots and working condition needs to be perceived .Therefore, the dynamic property of six-axis force sensor which is installed on the end -effectors of intelligent robots will have influence on the veracity of detection and judgment to working environment contact force by intelligent robots di -rectly.In this paper, dynamic analysis to double-layer and pre-stressed multi-limb six-axis force sensor is conducted.First, the structure of the sensor is introduced , and the limb number is con-firmed by introducing the related definitions of convex analysis .Then, based on vibration of multi-ple-degree-of-freedom system, a mechanical vibration simplified model of double -layer and pre-stressed multiple limb six-axis force sensor is set up.After that, movement differential equations of sensor and the response of analytical expression are deduced , and the movement differential equa-tions is solved.Finally, taking the double-layer and pre-stressed seven limb six-axis force sensor as an example, numerical calculation and simulation of deriving result is conducted , which verify the correctness and feasibility of the theoretical analysis .