| Summary: | 碩士 === 國立中山大學 === 機械與機電工程學系研究所 === 107 === Multi-axis force/torque sensors have been widely used in various fields in 2019. Such as vehicles in the transportation industry, rehabilitation equipment in the medical field, machine in the construction industry, processing equipment in the manufacturing industry. And the application of multi-axis force/torque sensor with robot arm is the most common. The development of industrial automation and Industry 4.0 promote the technology and precision of multi-axis machine and robot arm, which make many industries are more strict to the demands of the application and specification of force sensors.
Therefore, after studying the different principles of the multi-axis force/torque sensor, this study focuses on the strain-type multi-axis force/torque sensor. The advantages of strain-type multi-axis force/torque sensor are high linearity and high sensitivity. This study draws on the advantages of the paper of multi-axis force/torque sensor which published by the worldwide scholars in recent years.
Besides, based on the paper published by the worldwide scholars and the experience of our laboratory, we find that the structural coupling always causes the sensing error regardless of the type of the multi-axis force/torque sensor.
This study proposes a design of the strain-type six-axis force/torque sensor with different rigid structures. The different rigid structures divide the sensor structure into inner ring structure and outer ring structure, inner ring structure and outer ring structure will be designed to suit the use of sensing Fx、Fy、Tz and Fz、Tx、Ty according to the corresponding second axial moment of areacharacteristics.According to the inner ring structure and the outer ring structure,the mathematical model is established bythe length, width andheight of the sensing elasticity beam and support elasticity beam. Deriving the strained analytical solution
vformula by mathematical model. Finally, validated the strain analytical solution by ANSYS (FEA).The design optimization ofthis study will use thestrain analytical solution as the Objective Function, and according to the application requirements and specifications to establish the limiting constraints. Thereby optimized size parameters, reduce the strain caused by the axial force/torque in the non-sensing area, the different rigid structures can be designed to fit the needs, making the sensor design more in line with industrial requirements and reducing the error caused by the structural coupling.
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