research on parallel load sharing principle of piezoelectric six-dimensional heavy force/torque sensor

in working process of huge heavy-load manipulators, such as the free forging machine, hydraulic die-forging press, forging manipulator, heavy grasping manipulator, large displacement manipulator, measurement of six-dimensional heavy force/torque and real-time force feedback of the operation interface are basis to realize coordinate operation control and force compliance control. it is also an effective way to raise the control accuracy and achieve highly efficient manufacturing. facing to solve dynamic measurement problem on six-dimensional time-varying heavy load in extremely manufacturing process, the novel principle of parallel load sharing on six-dimensional heavy force/torque is put forward. the measuring principle of six-dimensional force sensor is analyzed, and the spatial model is built and decoupled. the load sharing ratios are analyzed and calculated in vertical and horizontal directions. the mapping relationship between six-dimensional heavy force/torque value to be measured and output force value is built. the finite element model of parallel piezoelectric six-dimensional heavy force/torque sensor is set up, and its static characteristics are analyzed by ansys software. the main parameters, which affect load sharing ratio, are analyzed. the experiments for load sharing with different diameters of parallel axis are designed. the results show that the six-dimensional heavy force/torque sensor has good linearity. non-linearity errors are less than 1%. the parallel axis makes good effect of load sharing. the larger the diameter is, the better the load sharing effect is. the results of experiments are in accordance with the fem analysis. the sensor has advantages of large measuring range, good linearity, high inherent frequency, and high rigidity. it can be widely used in extreme environments for real-time accurate measurement of six-dimensional time-varying huge loads on manipulators.