【作者】 孙松良；

【导师】 刘正士；

【作者基本信息】 合肥工业大学 ， 机械电子工程， 2005， 硕士

【摘要】 论文是863智能机器人传感器技术网点实验室项目“水下机器人多维力传感器的设计与研究”的一部分。论文主要运用有限元方法,致力于提高典型多维力传感器的各方面的性能和提高多维力传感器的量程,并以此为目标进行了结构优化分析。论文的主要内容有: (1) 建立典型梁多维力传感器静、动态分析的有限元模型。运用有限元方法分析了典型多维力传感在各种受力状态下的应力应变分布,获取应变矩阵;同时进行了动态特性分析。 (2) 标定矩阵条件数是多维传感器的重要评价指标。论文对多维力传感器的的标定矩阵进行了较深入的分析。针对当前多维力传感器普遍存在的耦合问题,提出一种新型的传感器结构构思,对从结构上来解决耦合问题进行了探讨。分析表明,该结构与原模型相比,在耦合上明显改善。 (3) 优化设计是现代设计理论的重要组成部分,文章最后对典型多维力传感器进行结构优化设计。应用商业有限元软件,分别以第一阶固有频率和极大应力为目标函数,对多维力传感器进行结构优化分析。同时,论文探讨了多维力传感器的拓扑优化问题。为提高传感器的性能,改进传感器的设计和研制新型传感器,为我们新型的多维力传感器的研制提供参考。更多还原

【Abstract】 The work reported in this paper is supported by "Design and Research on Multidimensional sensor of robot under the water" from the intelligent robot sensor technology node laboratory. This paper used finite element method, devotes in enhances the typical multi-dimensional strength sensor various performance and enhanced its measuring range. According to the above object function, this paper has made the structure optimization. The paper main works includes:(1) For static and dynamic analysis finite element analysis, the author has established multi-dimensional force sensor finite element model. The stress distribution patterns for typical load case of elastic body are analyzed in details with finite element menthol and the strain matrix been achieved. In the meantime, natural frequency and normal mode of elastic body are analyzed.(2) The condition number of calibration matrix is an important appraisal index of the multi-dimensional sensor. In view of the current multi-dimensional physical strength sensor universal existence coupling, the author proposed one kind of new sensor structure, solved the coupling problem from the basic structure. The analysis indicated that, this kind of sensor compares the prototype sensor to have the obvious improvement in the coupling aspect.(3) The optimized design is the modern design theory important constituent. The article finally carries on the structure optimization design onto the multi-dimensional force sensor model. The paper respectively taken the first step natural frequency and the maximum stress as the objective function, carries the structure optimization analysis on the multi-dimensional strength sensor, commercial finite element analysis software (such as ANSYS) been used. At the same time, this paper has discussed the sensor Topological Optimization question. In order to enhance the sensor the performance, improves the sensor design and develop new sensor, this work provides the reference for our new multi-dimensional strength sensor development.更多还原