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论文类型：期刊论文

发表时间：2012-06-01

发表刊物：MEASUREMENT

收录刊物：SCIE、EI

卷号：45

期号：5

页面范围：1114-1125

ISSN号：0263-2241

关键字：Industrial robot; Six-dimensional force/moment sensor; Piezoelectric; Dynamic characteristic; Real-time measurement

摘要：This paper presents research on dynamic characteristics of a piezoelectric six-dimensional heavy force/moment sensor for a large-load robotic manipulator. The theory on dynamic characteristics of the sensor structure is analyzed, and a mathematical model of the sensor dynamics, decoupled into separate vibration modes, is provided. This model is complemented by dynamic mode analysis of the sensor by finite-element modeling (FEM; ANSYS software). A dynamic calibration experiment is designed, and methods and principles for measurements and data analysis are provided. The characteristic dynamic vibration modes of the piezoelectric force/moment sensor are extracted by analyzing experimental data, yielding amplitude frequency and phase frequency curves of the transfer function linking the excitation loads with the output signals of the transducer. The results of the dynamic calibration experiment demonstrate the good dynamic characteristics of the piezoelectric six-dimensional heavy force/moment sensor. The natural frequencies in the three force directions are high, with values close 2000 Hz. This demonstrates the applicability of the presented six-dimensional heavy force/moment sensor to large industrial robotic manipulators. (C) 2012 Elsevier Ltd. All rights reserved.