Paster of multidimensional force sensor and bridging method

Abstract

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...

AI Technical Summary

Problems solved by technology

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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