为优化六轴力/力矩传感器的尺寸,对包括梁连接刚度和应力拓扑在内的顺应式 Y 型机构进行理论建模和误差分析

IF 1.8 4区 工程技术 Q3 ENGINEERING, MECHANICAL
Mithat Can Özin, Bilsay Sümer, İlker Murat Koç
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引用次数: 0

摘要

与常见的横梁结构相比,新颖的 Y 型顺从机构具有机械优势,可产生更大的弹性变形和更多的应变计测量电压输出,因此适用于多轴力/力矩传感器。本研究通过考虑弹性横梁和横梁连接的刚度,对 y 型结构进行了应力拓扑和固有频率近似。因此,与之前的研究相比,该模型的刚度和应变输出精度大大提高。通过统计误差和参数分析,检验了理论模型在传感器尺寸范围内的精度。结果显示,与有限元模型相比,理论模型的应变误差为 2%,刚度误差为 5%,第一固有频率误差为 3%,等效应力误差为 8%,相关性均高于 98%。将优化结果与文献进行比较,尽管 y 型结构与横梁结构表现出相似的力学行为,但 y 型结构的力/力矩轴电压输出增加了(100%)。此外,使用 MATLAB GlobalSearch 对理论模型进行优化的时间约为 1 秒,而对有限元模型进行优化的时间约为 8 小时。
本文章由计算机程序翻译,如有差异,请以英文原文为准。

Theoretical modeling and error analysis of a compliant Y-shaped mechanism including beam joint stiffness and stress topology for size optimization of six-axis force/moment sensors

Theoretical modeling and error analysis of a compliant Y-shaped mechanism including beam joint stiffness and stress topology for size optimization of six-axis force/moment sensors

The novel compliant Y-shaped mechanisms have mechanical advantages for the multi-axis force/moment sensor since they yield more elastic deformation and more voltage output for strain gauge measurements compared to their common alternative cross-beam structures. This study includes stress topology and natural frequency approximations of the y-shaped structure by taking into account elastic beams and the stiffness of the beam connections. Subsequently, the stiffness and strain output accuracy of the model greatly improved compared to previous studies. The accuracy of the theoretical model is examined in a sensor dimension range by statistical error and parameter analysis. Comparing with the finite element model, results show that the percent error of the theoretical model is 2% for strain, 5% for stiffness, 3% for first natural frequency, and 8% for equivalent stresses, with all correlations above 98%. Comparing the optimization results with the literature, although the y-shaped structure shows similar mechanical behavior with the cross-beam structure, the voltage output of the y-shaped structure is increased up to \(100\%\) for force/moment axes. Moreover, the optimization process with MATLAB GlobalSearch lasts approximately 1 s for the theoretical model and 8 h for the finite element model.

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来源期刊
CiteScore
3.60
自引率
13.60%
发文量
536
审稿时长
4.8 months
期刊介绍: The Journal of the Brazilian Society of Mechanical Sciences and Engineering publishes manuscripts on research, development and design related to science and technology in Mechanical Engineering. It is an interdisciplinary journal with interfaces to other branches of Engineering, as well as with Physics and Applied Mathematics. The Journal accepts manuscripts in four different formats: Full Length Articles, Review Articles, Book Reviews and Letters to the Editor. Interfaces with other branches of engineering, along with physics, applied mathematics and more Presents manuscripts on research, development and design related to science and technology in mechanical engineering.
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