Development and Application of a Novel High Precision Six-Axis Force/Torque Sensor

Improving the accuracy of the six-axis force sensor Six-axis force sensors (hereafter collectively referred to as 6a-sensors) is a systematic problem, which mainly involves the optimization and improvement of three aspects: the design of the elastic body of the 6a-sensors, the acquisition and processing of the weak signal, and the decoupling of the inter-dimensional data of the force and torque of each dimension. To attain high stiffness, sensitivity, and minimal coupling, a design scheme of cross beam elastomer based on titanium alloy material is proposed. In order to realize the acquisition and processing of multi-channel weak differential signals with high gain, high linearity and precision, a high-speed programmable weak signal processing circuit design scheme is proposed. To efficiently address the interdependence issue among signal dimensions in the 6a-sensors. This paper innovatively proposes a BP-PSO decoupling algorithm using Particle Swarm Approach (PSO) to optimise the optimiser of BP neural network. To validate the algorithm's effectiveness, comparative experiments are conducted with the 6a-sensors. designed and studied in this paper by sampling and self-designed calibration system. The sensitivity of the 6a-sensor designed in this paper reaches 4mV/V. In terms of accuracy, there is an improvement of about 1%. In terms of crosstalk, there is an improvement of about 0.2%. providing a new and improved idea for the six-dimensional force decoupling algorithm. In order to further verify the practicability of the algorithm, a flexible surface grinding robot based on six-axis force is developed based on Siasun robot platform. The grinding strength control is accurate, and the running trajectory is uniform and smooth, which can effectively meet the practical application requirements of flexible and intelligent control.