title: Decoupling Principle Analysis and Development of a Parallel Three-Dimensional Force Sensor.
abstract: In the development of the multi-dimensional force sensor, dimension coupling is the ubiquitous factor restricting the improvement of the measurement accuracy. To effectively reduce the influence of dimension coupling on the parallel multi-dimensional force sensor, a novel parallel three-dimensional force sensor is proposed using a mechanical decoupling principle, and the influence of the friction on dimension coupling is effectively reduced by making the friction rolling instead of sliding friction. In this paper, the mathematical model is established by combining with the structure model of the parallel three-dimensional force sensor, and the modeling and analysis of mechanical decoupling are carried out. The coupling degree (ε) of the designed sensor is defined and calculated, and the calculation results show that the mechanical decoupling parallel structure of the sensor possesses good decoupling performance. A prototype of the parallel three-dimensional force sensor was developed, and FEM analysis was carried out. The load calibration and data acquisition experiment system are built, and then calibration experiments were done. According to the calibration experiments, the measurement accuracy is less than 2.86% and the coupling accuracy is less than 3.02%. The experimental results show that the sensor system possesses high measuring accuracy, which provides a basis for the applied research of the parallel multi-dimensional force sensor.
authors.affiliation: Key Laboratory of Parallel Robot and Mechatronic System of Hebei Province, Yanshan University, Qinhuangdao 066004, China. yzzhao@ysu.edu.cn.|Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education of China, Yanshan University, Qinhuangdao 066004, China. yzzhao@ysu.edu.cn.
authors.forename: Yanzhi
authors.initials: Y
authors.lastname: Zhao
authors.affiliation: Key Laboratory of Parallel Robot and Mechatronic System of Hebei Province, Yanshan University, Qinhuangdao 066004, China. 18713509981@163.com.|Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education of China, Yanshan University, Qinhuangdao 066004, China. 18713509981@163.com.
authors.forename: Leihao
authors.initials: L
authors.lastname: Jiao
authors.affiliation: Key Laboratory of Parallel Robot and Mechatronic System of Hebei Province, Yanshan University, Qinhuangdao 066004, China. wengdacheng409@163.com.|Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education of China, Yanshan University, Qinhuangdao 066004, China. wengdacheng409@163.com.
authors.forename: Dacheng
authors.initials: D
authors.lastname: Weng
authors.affiliation: Department of Mechanical Engineering, Lassonde School of Engineering, York University, 4700 Keele Street, Toronto, ON M3J 1P3, Canada. dan.zhang@lassonde.yorku.ca.
authors.forename: Dan
authors.initials: D
authors.lastname: Zhang
authors.affiliation: Institute of Industrial Science, The University of Tokyo, Tokyo 153-8505, Japan. topzrc@iis.u-tokyo.ac.jp.
authors.forename: Rencheng
authors.initials: R
authors.lastname: Zheng
keywords: calibration experiment; mechanical decoupling; parallel structure; three-dimensional force sensor