一种高性能六轴腕力传感器弹性体结构设计

摘要

建立了一种空间机器人上使用的六轴腕力传感器弹性体静、动特性的有限元分析模型，分析了该传感器的弹性体在各种工况下的应力分布以及固有振动的频率和振型.应用正交试验设计全面分析结构主要参数对传感器的静、动特性的影响.用逐步回归分析方法对数值计算结果进行回归，获得了弹性体性能和其结构尺寸的回归方程，并进行了结构优化设计.%A model of static and dynamic characteristics of the elastic bodyof a wrist force sensor used in space robot is built with finite element method. The stress distribution pattern in various load cases, natural frequencies and vibration shapes of the elastic body are analyzed. The influence of main structure parameters on static and dynamic characteristics is investigated comprehensively by using orthogonal test design. The regression equations between the structure parameters and performances of the sensor are obtained by using step regression analysis on numerical results. And the optimization design of elastic body for the wrist force sensor has been carried out