Active Design Method for the Static Characteristics of a Piezoelectric Six-Axis Force/Torque Sensor

作者：Liu Jun; Li Min; Qin Lan; Liu Jingcheng

来源：Sensors (Switzerland), 2014, 14(1): 659-671.

DOI：10.3390/s140100659

• finite element
• static characteristic
• six-axis force/torque
• piezoelectric sensor
• active design theory

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.

• 出版日期2014-1
• 单位重庆大学