Hamzeloo, S., Shaykhi, M., Akbari, H. (2016). Assessment of a Column Type Six-Component Force/Torque Sensor by Theoretical, Simulation and Experimental Approaches. Journal of Simulation and Analysis of Novel Technologies in Mechanical Engineering, 9(4), 647-660.
Seyed Reza Hamzeloo; M. Morad Shaykhi; Hossain Akbari. "Assessment of a Column Type Six-Component Force/Torque Sensor by Theoretical, Simulation and Experimental Approaches". Journal of Simulation and Analysis of Novel Technologies in Mechanical Engineering, 9, 4, 2016, 647-660.
Hamzeloo, S., Shaykhi, M., Akbari, H. (2016). 'Assessment of a Column Type Six-Component Force/Torque Sensor by Theoretical, Simulation and Experimental Approaches', Journal of Simulation and Analysis of Novel Technologies in Mechanical Engineering, 9(4), pp. 647-660.
Hamzeloo, S., Shaykhi, M., Akbari, H. Assessment of a Column Type Six-Component Force/Torque Sensor by Theoretical, Simulation and Experimental Approaches. Journal of Simulation and Analysis of Novel Technologies in Mechanical Engineering, 2016; 9(4): 647-660.
Assessment of a Column Type Six-Component Force/Torque Sensor by Theoretical, Simulation and Experimental Approaches
1Assistant professor, Mechanical Engineering Department, Shahid Rajaee Teacher Training University
2PhD student, mechanical engineering, martyr Rajai Teacher Training University, Tehran
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.
مطالعه عملکرد یک حسگر نیرو/گشتاور شش‌مولفه‌ای نوع ستونی از سه منظر نظری، شبیه‌سازی و تجربی
Authors [Persian]
سیدرضا حمزه لو1; محمدمراد شیخی1; حسین اکبری2
1استادیار دانشکده مهندسی مکانیک، دانشگاه تربیت دبیر شهیدرجائی
2دانشجوی دکتری، مهندسی مکانیک، دانشگاه تربیت دبیر شهید رجایی، تهران.
Abstract [Persian]
A multi-component force/torque sensor using strain gauges is applied to measure the static or dynamic forces and also the moments in all axis simultaneously. The applied column-type six-component force/torque sensor is composed of two flanges and a cylindrical elastic force-sensing element with a particular pattern of installed strain gauges. In this research the pattern of strain gauges on sensor is presented to electrically decouple each component of the applied loads. The theoretical model was developed for the presented pattern. Also the finite element simulation carried out with ABAQUS for whole model to evaluate the accuracy of the pattern in different situations. Furthermore, variety of load cases including the axial loads, the torsional torque and bending moments were applied to the prototype sensor to report the percentage deviations of experimental strains related to the equivalent theoretical model and the simulations. The results show that the actual values of the main diameter components of the calibration matrix not only are different from the theoretical values but also this matrix would not necessarily be diagonal. It is observed that the percent deviation of the simulation strains from theoretical values in all loading cases would be under 3%. As a prominent result, the minimum and maximum deviation between theoretical and experimental is related to shear force (Px) and bending moment (Mx) respectively by values of 0.27% and 8.12%.
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