Accuracy Analysis and Experimental Study of a Six-Dimensional Force Sensor with Circular Flexible Spherical Joints
Author:
Wang Zhijun1, Zhang Xiaotao1, Li Mengxiang1ORCID
Affiliation:
1. College of Mechanical Engineering, North China University of Science and Technology, Tangshan 063210, China
Abstract
This paper proposed a circular flexible spherical joint to reduce the processing difficulty and manufacturing cost, and design a six-dimensional force sensor based on it. This paper analyzes the influence of the structural parameters of the flexible spherical joints on the accuracy of the six-dimensional force sensor by comparing the force mapping matrix of flexible spherical and ideal spherical joints. As the force mapping matrix is related to the stiffness matrix, the stiffness matrix of a six-dimensional force sensor based on a circular flexible spherical joint and the force mapping matrix of the generalized external force acting on the sensor was derived. Finally, a set of optimal parameters was selected to create a prototype and was verified through finite elements and experiments. The results show that the six-dimensional force sensor with a circular flexible spherical joint has good accuracy and provides some guidance for the design and analysis of the sensor.
Funder
National Natural Science Foundation of China Science and Technology Project of Hebei Education Department Tangshan Science and Technology Innovation Team Training Plan Project
Subject
Electrical and Electronic Engineering,Biochemistry,Instrumentation,Atomic and Molecular Physics, and Optics,Analytical Chemistry
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