Active design method for the static characteristics of a piezoelectric six-axis force/torque sensor.
To address the bottleneck issues of an elastic-style six-axis force/torque sensor (six-axis force sensor), this work proposes a no-elastic piezoelectric six-axis force sensor. The operating principle of the piezoelectric six-axis force sensor is analyzed, and a structural model is constructed. The static-active design theory of the piezoelectric six-axis force sensor is established, including a static analytical/mathematical model and numerical simulation model (finite element model). A piezoelectric six-axis force sensor experimental prototype is developed according to the analytical mathematical model and numerical simulation model, and selected static characteristic parameters (including sensitivity, isotropic degree and cross-coupling) are tested using this model with three approaches. The measured results are in agreement with the analytical results from the static-active design method. Therefore, this study has successfully established a foundation for further research into the piezoelectric multi-axis force sensor and an overall design approach based on static characteristics.
Key Laboratory of Optoelectronics Technology and Systems Ministry of Education, Chongqing University, Chongqing 400044, China. junliu@cqu.edu.cn.
Jun
J
Liu
Key Laboratory of Optoelectronics Technology and Systems Ministry of Education, Chongqing University, Chongqing 400044, China. limin780815@cqu.edu.cn.
Min
M
Li
Key Laboratory of Optoelectronics Technology and Systems Ministry of Education, Chongqing University, Chongqing 400044, China. qinlan@cqu.edu.cn.
Lan
L
Qin
Key Laboratory of Optoelectronics Technology and Systems Ministry of Education, Chongqing University, Chongqing 400044, China. jcliu@cqu.edu.cn.
Jingcheng
J
Liu