Assessment of a Column Type Six-Component Force/Torque Sensor by Theoretical, Simulation and Experimental Approaches

Authors

  • Hossein Akbari PhD student, mechanical engineering, martyr Rajai Teacher Training University, Tehran
  • Mohammad Morad Sheikhi Assistant professor, Mechanical Engineering Department, Shahid Rajaee Teacher Training University
  • Seyed Reza Hamzeloo Assistant professor, Mechanical Engineering Department, Shahid Rajaee Teacher Training University
Abstract:

حسگرهای نیرو/گشتاور چند‌مولفه‌ای کرنش‌سنج‌دار، برای اندازه‌گیری همزمان نیروها و گشتاورهای استاتیکی و دینامیکی شامل سه مولفه‌ی نیرو و سه مولفه‌ی گشتاور در دستگاه مختصات دکارتی یک سیستم استفاده می‌شوند. در این تحقیق، یک حسگر نیرو/گشتاور شش‌مولفه‌ای نوع ستونی، با سطح مقطع دایروی توخالی معرفی شده است. به منظور جداسازی الکتریکی مولفه‌های بار اعمالی بر آن و بر پایه‌ی مبانی نظری، الگوهایی خاصی برای نصب کرنش‌سنج‌ها ارائه شده که بررسی صحت این الگوها با شیبه‌سازی المان محدود در نرم‌افزار آباکوس انجام گرفته است. در ادامه بارگذاری‌های مختلفی به یک نمونه‌ی ساخته شده از این حسگر اعمال شده و کرنش‌های تجربی اندازه‌گیری شده است. نتایج نشان می‌دهد که نه تنها اندازه‌ی واقعی درایه‌های قطر اصلی ماتریس کالیبراسیون، انحراف‌هایی نسبت به اندازه‌ی نظری آن‌ها دارد بلکه؛ این ماتریس لزوماً قطری نیست. درصد انحراف کرنش‌های شبیه‌سازی از نظری در همه پل‌ها زیر %0/3 در تمام شرایط بارگذاری بدست آمده است. همچنین کمترین و بیشترین درصد انحراف کرنش‌های تجربی از نظری در بیشینه بار مجاز هر محور، به ترتیب مربوط به نیروی برشی Px و ممان خمشی Mx بوده که برابر %%62/1 و %12/8 می‌باشد.

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Journal title

volume 9  issue 4

pages  647- 660

publication date 2016-11-21

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