Theoretical and experimental research of six-dimensional force / moment  measurement piezoelectric dynamometer

DANAISH .; Ren Zongjin; Zhang Jun; Xu’tian guo; Muhammad Ayaz Akbar

doi:10.15282/jmes.16.3.2022.03.0712

Authors

Danaish Dalian University of technologySchool of Mechanical engineering, Dalian University of Technology, Dalian, 116024, China. Phone: +8615651826700; Fax: +8615651826700.
R. Zongjin School of Mechanical engineering, Dalian University of Technology, Dalian, 116024, China. Phone: +8615651826700; Fax: +8615651826700.
Z. Jun School of Mechanical engineering, Dalian University of Technology, Dalian, 116024, China. Phone: +8615651826700; Fax: +8615651826700.
X. Tianguo School of Mechanical engineering, Dalian University of Technology, Dalian, 116024, China. Phone: +8615651826700; Fax: +8615651826700.
M.A. Akbar School of Mechanical engineering, The Hong Kong Polytechnic University, Hong Kong, 999077, China.

DOI:

https://doi.org/10.15282/jmes.16.3.2022.03.0712

Keywords:

Tri-axial piezoelectric sensors installation, FEM simulation experiments, Experimental calibration analysis, Multi-points force/moment measurement

Abstract

High-accuracy measurement for force is essential in the Robotics design, Rocket thrust, manufacturing process, and biomedical equipment. To realize the multi-dimensional force/moment measurement, a multi-points force / moment measurement piezoelectric dynamometer capable of measuring spatial force information has been developed. The experimental prototype dynamometer is fabricated according to the designed numerical simulation model (Finite element method: FEM) in which eight three-axis piezoelectric sensors are uniformly distributed in a zigzag pattern. The constructed dynamometer is calibrated both statically and dynamically, static calibration is carried out using a manual hydraulic loader, and the dynamic calibration is performed by impact load technique. The maximum error difference between the theoretical simulations and experimental analyses is approximately 7%. The experimental calibrated results evaluate that the cross-talk error of the applied axile force, normal force and pitch moment is less than 4% and the natural frequency of the dynamometer in each coordinate is greater than 0.35 kHz.

References

Y. Sun, Y. Liu, T. Zou, M. Jin, and H. Liu, “Design and optimization of a novel six-axis force/torque sensor for space robot,” Meas. J. Int. Meas. Confed., vol. 65, no. January, pp. 135–148, 2015.

F. Ballo, M. Gobbi, G. Mastinu, and G. Previati, “A six axis load cell for the analysis of the dynamic impact response of a hybrid III dummy,” Meas. J. Int. Meas. Confed., vol. 90, no. April, pp. 309–317, 2016.

T. P. Phan, P. C. P. Chao, J. J. Cai, Y. J. Wang, S. C. Wang, and K. Wong, “A novel 6-DOF force/torque sensor for COBOTs and its calibration method,” in Proceedings of 4th IEEE International Conference on Applied System Innovation, pp. 1228–1231, 2018.

G. S. Kim, H. J. Shin, and J. Yoon, “Development of 6-axis force/moment sensor for a humanoid robot’s intelligent foot,” Sensors Actuators, A Phys., vol. 141, no. 2, pp. 276–281, 2008.

H. Akbari and A. Kazerooni, “Improving the coupling errors of a Maltese cross-beams type six-axis force/moment sensor using numerical shape-optimization technique,” Meas. J. Int. Meas. Confed., vol. 126, pp. 342–355, 2018.

Q. Xing, J. Zhang, M. Qian, Z. Jia, and B. Sun, “Design , calibration and error analysis of a piezoelectric thrust dynamometer for small thrust liquid pulsed rocket engines,” Measurement, vol. 44, no. 2, pp. 338–344, 2011.

X. Jiang, K. Kim, S. Zhang, J. Johnson, and G. Salazar, “High-temperature piezoelectric sensing,” Sensors (Switzerland), vol. 14, no. 1, pp. 144–169, 2013.

S. M. Declercq, S. M. Declercq, D. R. Lazor, D. R. Lazor, D. L. Brown, and D. L. Brown, “A smart 6-DOF load cell development,” in SPIE proceedings series. Society of Photo-Optical Instrumentation Engineers, 2002, vol. 1, no. 4753, pp. 844–853.

Z. Wang, J. Yao, Y. Xu, and Y. Zhao, “Hyperstatic analysis of a fully pre-stressed six-axis force / torque sensor,” MAMT, vol. 57, no. August, pp. 84–94, 2012.

L. Qin, C. Jiang, J. Liu, and Y. Duan, “Design and calibration of a novel piezoelectric six-axis force/torque sensor,” in Seventh International Symposium on Precision Engineering Measurements and Instrumentation, vol. 8321, pp. 83210G-83210G–9, 2011.

C. Yuan et al., “Development and evaluation of a compact 6-axis force/moment sensor with a serial structure for the humanoid robot foot,” Meas. J. Int. Meas. Confed., vol. 70, no. March, pp. 110–122, 2015.

Z. N. Brimhall, N. Divitotawela, J. P. Atkinson, D. L. Kirk, and H. G. Peebles, “Design and validation of a six degree of freedom rocket motor thrust stand,” in 44th AIAA/ASME/SAE/ASEE Joint Propulsion Conference & Exhibit,no. July, pp. 1–7, 2008.

F. Ballo, M. Gobbi, G. Mastinu, and G. Previati, “Advances in force and moments measurements by an innovative six-axis load cell,” Exp. Mech., vol. 54, no. 4, pp. 571–592, 2014.

Z. Jia, Y. Gao, Z. Ren, S. Gao, and Y. Shang, “Design and calibration method for a novel six-component piezoelectric balance,” Proc. Inst. Mech. Eng. Part C J. Mech. Eng. Sci., vol. 227, no. 8, pp. 1841–1852, 2013.

Z. Y. Jia, S. Lin, and W. Liu, “Measurement method of six-axis load sharing based on the Stewart platform,” Meas. J. Int. Meas. Confed., vol. 43, no. 3, pp. 329–335, 2010.

Y. J. Li, J. Zhang, Z. Y. Jia, M. Qian, and H. Li, “Research on force-sensing element’s spatial arrangement of piezoelectric six-component force/torque sensor,” Mech. Syst. Signal Process., vol. 23, no. 8, pp. 2687–2698, 2009.

Y. jun Li, C. Yang, G. cong Wang, H. Zhang, H. yong Cui, and Y. liang Zhang, “Research on the parallel load sharing principle of a novel self-decoupled piezoelectric six-dimensional force sensor,” ISA Trans., vol. 70, no. July, pp. 447–457, 2017.

Z. Jia, L. Jin, W. Liu, and Z. Ren, “A novel strategy to eliminate the influence of water adsorption on quartz surfaces on piezoelectric dynamometers,” Sensors (Switzerland), vol. 16, no. 7, pp. 1–10, 2016.

P. Baki, G. Székely, and G. Kósa, “Design and characterization of a novel, robust, tri-axial force sensor,” Sensors Actuators, A Phys., vol. 192, no. December, pp. 101–110, 2013.

J. Schleichert, I. Rahneberg, and T. Fröhlich, “Calibration of a Novel Six-Degree-of-Freedom Force/Torque Measurement System,” Int. J. Mod. Phys. Conf. Ser., vol. 24, pp. 1360017 (1–9), 2013.

T. A. Dwarakanath and D. Venkatesh, “Simply supported , ‘ Joint less ’ parallel mechanism based force – torque sensor,” Mechatronics, vol. 16, no. March, pp. 565–575, 2006.

M. K. Kang, S. Lee, and J. H. Kim, “Shape optimization of a mechanically decoupled six-axis force/torque sensor,” Sensors Actuators, A Phys., vol. 209, no. January, pp. 41–51, 2014.

M. Gobbi, G. Previati, P. Guarneri, and G. Mastinu, “A new six-axis load cell . Part II : Error analysis , construction and experimental assessment of performances,” Exp. Mech., vol. 51, no. May, pp. 389–399, 2011.

Z. H. Zhang, B. Y. Sun, M. Qian, J. Zhang, Y. H. Shi, and X. Zhou, “An investigation of the tertiary coupling effect under the longitudinal mode of a piezoelectric crystal,” Proc. Inst. Mech. Eng. Part C J. Mech. Eng. Sci., vol. 223, no. 8, pp. 1777–1785, 2009.

W. Liu, Y. J. Li, Z. Y. Jia, J. Zhang, and M. Qian, “Research on parallel load sharing principle of piezoelectric six-dimensional heavy force/torque sensor,” Mech. Syst. Signal Process., vol. 25, no. 1, pp. 331–343, 2011.

Q. Xing et al., “Thrust stand for low-thrust liquid pulsed rocket engines Thrust stand for low-thrust liquid pulsed rocket engines,” Rev. Sci. Instrum., vol. 81, pp. 095102 (1–8), 2010.

Z. Ren, S. Gao, Z. Jia, and Y. Shang, “Piezoelectric sensor of control surface hinge moment,” Sensors & Transducers, vol. 152, no. 5, pp. 11–17, 2013.

A. Cigada, M. Falco, and A. Zasso, “Development of new systems to measure the aerodynamic forces on section models in wind tunnel testing,” J. Wind Eng. Ind. Aerodyn., vol. 89, pp. 725–746, 2001.

J. Liu, M. Li, L. Qin, and J. Liu, “Active design method for the static characteristics of a piezoelectric six-axis force/torque sensor,” Sensors (Switzerland), vol. 14, no. 1, pp. 659–671, 2014.

N. Ulbrich, “Combined Load Diagram for a Wind Tunnel Strain–Gage Balance,” in 27th AIAA Aerodynamics Measurement and Ground Testing Conference, no. July, pp. 1–18,2010.

J. Zhang, J. Shao, Z. Ren, B. Wang, H. Shao, and Z. Jia, “Research on dimension coupling of piezoelectric three-component force unit based on sensor assembly error,” Adv. Mech. Eng., vol. 11, no. 5, pp. 1–11, 2019.

Y. Zhang, B. Guan, and H. Tam, “Characteristics of the distributed Bragg reflector fiber laser sensor for lateral force measurement,” Opt. Commun., vol. 281, no. May, pp. 4619–4622, 2008.

I. Korobiichuk, “Analysis of errors of piezoelectric sensors used in weapon stabilizers,” Metrol. Meas. Syst., vol. 24, no. 1, pp. 91–100, 2017.