Paster of multidimensional force sensor and bridging method
A multi-dimensional force sensor and sensor technology, applied in the field of sensors, can solve the problems of low decoupling precision, achieve high decoupling precision, solve inter-dimensional coupling problems, and simple decoupling methods
Inactive Publication Date: 2012-02-15
UNIV OF SHANGHAI FOR SCI & TECH
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At present, it is more commonly used to decouple the measurement data by calibrating the decoupling matrix, but the decoupling accuracy of this method is relatively low, which can only reach 90%.
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[0033] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
[0034] Taking the two-dimensional force sensor of bone as an example, the study solves the problem of inter-dimensional coupling from the design root of the sensor. The bone two-dimensional force sensor can realize the measurement of the axial tensile pressure and radial shear force of the bone. The structural diagram is as follows figure 1 , as shown in 2. First, the analytical solution of the strain of the bone two-dimensional force sensor under the action of axial tension pressure and radial shear force is deduced according to the thin plate theory.
[0035] (1)
[0036] (2)
[0037] In the formula: a is the outer diameter of the elastic body, b is the inner diameter of the elastic body, h is the film thickness of the elastic body, E is the elastic modulus of the sensor, is the Poisson’s ratio of the se...
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The invention relates to a paster of a multidimensional force sensor and a bridging method. The method comprises the following steps that: step one, according to a mechanical model of an elastomer, a strain mathematical model of a multidimensional force sensor elastomer is established, and on the basis of the mathematical model, an analytic solution of a strain and an acting force is solved, wherein the strain and the acting force are generated by the multidimensional force sensor elastomer; step two, a three-dimensional model of the multidimensional force sensor elastomer is established; step three, an acting force and a constraint are respectively applied according to a condition of the multidimensional force sensor, and solution on a finite element is carried out; step four, a maximum strain change position of the multidimensional force sensor elastomer is searched; step five, a strain paster position and a bridging mode are selected; step six, a strain output in the selected bridging mode is analyzed with combination of the three-dimensional model and the finite element model of the multidimensional force sensor; and it is determined whether static decoupling of the multidimensional force sensor is realized or not from the root of an elastomer design. According to the invention, a problem on interdimension coupling of a multidimensional force sensor can be solved from a root of the sensor; moreover, the decoupling precision is high and the decoupling method is simple.
Description
technical field [0001] The invention relates to a sensor, in particular to a patch and a bridge assembly method which can improve the measurement accuracy of a multi-dimensional force sensor and eliminate inter-dimensional coupling from the design root. Background technique [0002] Multidimensional force sensors are used to sense orthogonal forces / torques in space, and are widely used in aerospace, medical, robotics, and industrial automation. The general design steps of a multi-dimensional force sensor are: elastic body design, patch location and bridge assembly method, calibration and decoupling. A lot of research has been done on the design, calibration and decoupling of elastomers. Patent CN 1289917 A discloses a six-dimensional force sensor based on ceramic thick film technology. Patent CN 101832837 A discloses a six-dimensional force sensor based on Calibration decoupling method for multi-dimensional force sensor for coupling error modeling. However, there is little...
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Inventor 朱坚民王军杨帆杜鹏朱欢欢赵福旺付婷婷
Owner UNIV OF SHANGHAI FOR SCI & TECH