首页|Design and calibration of spoke piezoelectric six-dimensional force/torque sensor for space manipulator

Design and calibration of spoke piezoelectric six-dimensional force/torque sensor for space manipulator

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The large manipulator outside the space cabin is a multi-degree of freedom actuator for space operations.In order to realize the automatic control and flexible operation of the space manipulator,a novel spoke structure piezoelectric six-dimensional force/torque sensor with redun-dancy ability,high stiffness and good decoupling performance is innovatively proposed.Based on the deformation coordination relationship,the redundancy measurement mechanism is revealed.The mathematical models of the sensor with and without branch fault are established respectively.The finite element model is established to verify the feasibility of structure and redundancy measur-ing principle of the sensor.Depending on the theoretical analysis and simulation analysis,the pro-totype of the sensor is developed.Static and dynamic calibration experiments are carried out.The actual output voltage signal of the six-dimensional force/torque sensor is collected to establish the equation between the standard input applied load and the actual output voltage signal.Based on ant colony optimized BP algorithm,performance indexes of the sensor with and without branch fault are analyzed respectively.The experimental results show that the spoke piezoelectric six-dimensional force/torque sensor with the eight-point support structure has good accuracy and reli-ability.Meanwhile,it has strong decoupling characteristic that can effectively shield the coupling between dimensions.The nonlinear errors and maximum interference errors of decoupled data with and without branch faults are less than 1％and 2％,respectively.The natural frequency of the six-dimensional force sensor can reach 2856.45 Hz and has good dynamic characteristics.The research content lays a theoretical and experimental foundation for the design,development and application of the new six-dimensional force/torque sensors with redundancy.Meanwhile,it will significantly improve the research level in this field,and provide a strong guarantee for the smooth implemen-tation of force feedback control of the space station manipulator project.

Decoupling algorithmPiezoelectricRedundancySix-dimensional force/torque sensorSpace manipulator

Yingjun LI、Guicong WANG、Shuai ZHANG、Yuanqin ZHOU、Hongyu LI、Zhenguang QI

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School of Mechanical Engineering,University of Jinan,Jinan 250022,China

National Natural Science Foundation of ChinaShandong Province Higher Educational Youth Innovation Science and Technology Program,Chinathe"20 Regulations for New Universities"Funding Program of Jinan,China

518752502019KJB018202228116

2024

10.1016/j.cja.2023.03.012

中国航空学报(英文版)
中国航空学会

中国航空学报(英文版)

CSTPCDEI
影响因子：0.847
ISSN：1000-9361
年,卷(期)：2024.37(1)
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