The Oretical Analysis And Experimental Research Of Multi-dimensional Force Sensing Mechanism With Large Range Based On Near-singular

Based on the near singular theory and the idea of "strong load,micro force measurement",this paper studies the hybrid branch flexible multi-dimensional force sensing mechanism of near singular configuration.In order,the research on the near singular theory derivation and configuration synthesis,mechanism stiffness modeling,force mapping modeling,near singular performance analysis,mechanism size optimization,prototype calibration experiment and near singular comparative experiment are carried out,which provides some help for the design and analysis of near singular multi-dimensional force sensing mechanism.Firstly,based on the theory of helix and the principle of near singular configuration augmentation,the near singular configuration synthesis methods of six branch multidimensional force sensing mechanism and eight branch multi-dimensional force sensing mechanism are derived respectively,which solves the problem of near singular configuration synthesis.The load-bearing branches in the load-bearing part are synthesized by near singular configuration,and a complete multi-dimensional force sensing mechanism with near singular large range is obtained by combining the measurement part and the loadbearing part of the corresponding near singular direction.Secondly,based on the hypothesis of small deformation and the principle of deformation superposition,the stiffness model of multi-dimensional force sensing mechanism is established,and the static mapping matrix is further calculated from the stiffness model,and the calculation results of the mathematical model are verified by simulation.The results show that the Timoshenko beam model is more suitable for the multidimensional force sensing mechanism with short and thick beams.Thirdly,the near singularity index and sensitivity index of the mechanism are determined by using the condition number and the perturbation theory of equations.The performance of the near singular multi-dimensional force sensing mechanism is evaluated by the near singularity index,and the parameters of the near singular multi-dimensional force sensing mechanism are optimized by the sensitivity index.Finally,the calibration experiment of the prototype of the near singular multi-dimensional force sensing mechanism is carried out.The sensitivity of the near singular multi-dimensional force sensing mechanism in its near singular direction is greater than that in other directions.The results show that the sensitivity of the near singular prototype is much higher than that of the common prototype in the near singular direction,which proves that the near singular prototype has a better sensitivity amplification effect.