本文選題：輪輻式結(jié)構(gòu) + 壓電六維力傳感器��； 參考：《濟(jì)南大學(xué)》2017年碩士論文

【摘要】：隨著近代工業(yè)技術(shù)以及現(xiàn)代制造業(yè)的發(fā)展和革新,自動化作業(yè)機(jī)器人已經(jīng)成為工業(yè)領(lǐng)域的重要組成部分。無論是重載制造裝備,還是工業(yè)上常用的工業(yè)機(jī)器人和機(jī)械手,在其工作過程中都需要多維靈巧的操作能力和實(shí)時力反饋功能幫助其實(shí)現(xiàn)正確恰當(dāng)?shù)淖灾鞑僮?而保證這一功能可以正確實(shí)現(xiàn)的核心結(jié)構(gòu)就是六維力傳感器。高靈敏度的六維力傳感器是機(jī)器人手臂關(guān)節(jié)的重要組成部分也是不可或缺的部分,六維力傳感器的性能直接決定機(jī)器人的工作效率。本文選用動態(tài)測量性能及力反饋性能較為優(yōu)異的壓電石英作為力敏元件,通過建模仿真技術(shù)及結(jié)構(gòu)設(shè)計技術(shù),結(jié)合并聯(lián)分載原理及多支點(diǎn)測量原理設(shè)計了一種應(yīng)用于工業(yè)機(jī)器人及機(jī)械手關(guān)節(jié)部分的輪輻式壓電六維力傳感器,并進(jìn)行了性能標(biāo)定及優(yōu)化。首先,本文對三支點(diǎn)測量原理,四支點(diǎn)測量原理及五支點(diǎn)測量原理等進(jìn)行研究,推導(dǎo)出多支點(diǎn)測量原理及測量公式,結(jié)合多支點(diǎn)空間布局原理將四支點(diǎn)布局方式中的十字形布局及正方形布局進(jìn)行結(jié)合,提出一種新型的八支點(diǎn)空間布局方式并對其測量原理進(jìn)行了深入研究。其次,本文結(jié)合多支點(diǎn)測量原理及測量公式對力敏元件的疊放布局方式進(jìn)行了深入分析。基于壓電機(jī)理及壓電方程整合出一整套合理的石英晶組疊放布置方式,依據(jù)八支點(diǎn)空間布局原理,設(shè)計出一種無耦合現(xiàn)象的六維力測量方案及測量公式。再次,本文通過市場調(diào)研和文獻(xiàn)檢索,考慮機(jī)器人及機(jī)械手臂關(guān)節(jié)尺寸及操作環(huán)境需要,結(jié)合八點(diǎn)支撐式空間布局方案設(shè)計出一種圓盤式壓電六維力傳感器結(jié)構(gòu)。通過參數(shù)化建模結(jié)合仿真實(shí)驗(yàn),得出該結(jié)構(gòu)傳感器的性能指標(biāo),圓盤式壓電六維力傳感器可以有效完成六維力的測量,但是存在上下蓋殼體受力不均、力學(xué)傳遞效率較低、質(zhì)量過大以及固有頻率不足等缺陷�；谳p量化原則結(jié)合力學(xué)傳遞機(jī)理以及并聯(lián)分載原理,對圓盤式壓電六維力傳感器結(jié)構(gòu)進(jìn)行優(yōu)化設(shè)計,將圓盤力學(xué)分載機(jī)構(gòu)改進(jìn)設(shè)計為輪輻式結(jié)構(gòu),建模并進(jìn)行仿真實(shí)驗(yàn)。實(shí)驗(yàn)結(jié)果顯示:經(jīng)過結(jié)構(gòu)優(yōu)化,輪輻式壓電六維力傳感器結(jié)構(gòu)力學(xué)傳遞性能得到了大幅度改善,上下蓋殼體受力一致,輪輻式并聯(lián)分載機(jī)構(gòu)作用良好,力學(xué)傳遞效率較高,同時固有頻率和靈敏度也得到極大的提升。輪輻式壓電六維力傳感器結(jié)構(gòu)采用輕量化設(shè)計,大大降低了傳感器本身重量,減少了安裝后機(jī)器人以及機(jī)械手臂的工作能耗,提升了工作效率。輪輻式壓電六維力傳感器主要特點(diǎn)為:低能耗、高固有頻率、高靈敏度,同時具有高速測量和動態(tài)測量功能。最后,本文對輪輻式壓電六維力傳感器進(jìn)行參數(shù)化建模,建立了力學(xué)模型以及參數(shù)化實(shí)體模型,并對其進(jìn)行六維力測量仿真實(shí)驗(yàn),結(jié)合八支點(diǎn)測量公式對其進(jìn)行了性能檢測與量程合理化分析,計算出不同載荷下傳感器的力學(xué)傳遞效率。實(shí)驗(yàn)結(jié)果顯示:該輪輻式壓電六維力傳感器各項(xiàng)性能參數(shù)指標(biāo)良好,可以有效的完成六維力測量并且不存在耦合現(xiàn)象。
[Abstract]:With the development of modern industrial technology and modern manufacturing industry development and innovation, automatic robot has become an important part of the industrial sector. Both heavy manufacturing equipment, is commonly used in industry and industrial robot manipulator, in the course of their work are required for operation ability dimension dexterity and real-time force feedback to help them achieve independent function operate properly, and to ensure that the core structure of this function can be implemented correctly is the six axis force sensor. The six axis force sensor with high sensitivity is an important part of a joint of a robot arm is also an indispensable part of the performance of six dimensional force sensor directly determines the efficiency of the robot. The dynamic performance of measuring force and piezoelectric quartz is excellent performance feedback as the sensing element, through the modeling and simulation technology and structural design technology, combined with the original parallel load And multi pivot measuring principle is designed for a wheel type industrial robot and manipulator joint part of the piezoelectric six dimensional force sensor, and the calibration and optimization performance. First of all, on the three point measurement principle, study four fulcrum measurement principle and five fulcrum measuring principle, deduce the multi fulcrum measurement principle and the measurement formula, combined with the multi pivot space layout layout principle four fulcrum of the cruciform layout and square layout are combined, this article puts forward a new eight fulcrum space layout and the measurement principle are researched. Secondly, combining multi fulcrum measuring principle and formula of force sensitive element stack on the layout are analyzed. The piezoelectric equation of piezoelectric mechanism and integration of a set of reasonable quartz crystal groups stacked layout based on the basis of the eight pivot layout principle, design The six dimensional force measurement scheme and measurement formula of a coupling phenomenon. Thirdly, through market research and literature retrieval, and consider the robot arm joint size and operating environment, combined with a disc type piezoelectric six dimensional force sensor structure design of eight point supporting type space layout scheme. Through combining parametric modeling simulation results obtained the performance of the sensor structure, measurement of disc type piezoelectric six dimensional force sensor can complete six dimensional, but there are upper and lower cover shell uneven force, mechanical transmission efficiency is low, the quality is too large and the natural frequency of the lack of lightweight principle combined with mechanical transmission mechanism as well as parallel based on the principle of load, and optimize the design of disk type piezoelectric six dimensional force sensor structure, the mechanical disk loading mechanism for improving design of spoke structure, modeling and simulation Experimental results show: after structure optimization, spokewise piezoelectric six dimensional force sensor structure mechanical transfer performance has been greatly improved, the upper and lower cover shell stress, spokewise parallel load distribution mechanism, mechanical transmission efficiency is high, and the natural frequency and sensitivity has been greatly improved. The use of lightweight design spokewise piezoelectric six dimensional force sensor structure, greatly reduces the sensor itself weight, reduce energy consumption and work after the installation of the robot arm, enhance the work efficiency. Spokewise piezoelectric six dimensional force sensor is characterized by low energy consumption, high frequency, high sensitivity, and has high speed measurement and dynamic measurement function. Finally in this paper, the parametric modeling of spokewise piezoelectric six dimensional force sensor, established the mechanical model and parametric entity model, and carries on the simulation experiment of six axis force measurement, The performance test and range rationalization analysis combined with the eight pivot measurement formula, calculate the mechanical sensor under different load transfer efficiency. Experimental results show that the spokewise piezoelectric six dimensional force sensor performance index is good, can effectively complete the six dimensional force measurement and there is no coupling phenomenon.

【學(xué)位授予單位】：濟(jì)南大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP212

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