Development And Experimental Study Of Mechanical Self-decouped Multidimensional Sensors Based On Hall Effect

With the development of industrial society,the robotics field,precision processing industry and medical aspects need to be equipped with a perfect detection link,sensors as an important part of the detection link,has received wide attention and rapid development.Among them,multidimensional force sensors have been more maturely used in various fields,but there are also places worth changing or improving to meet the urgent needs for subsequent development,such as wireless detection technology for multidimensional force sensors;at the same time,multidimensional force sensors that require algorithmic decoupling produce delays caused by calculations and different errors caused by different algorithms in the output.Based on the above analysis,this paper adopts the Hall effect as the detection principle of the sensor,which is capable of wireless real-time detection of input force information and rotational speed,and the mechanical structure is used to achieve self-decoupling,and the overall direct output of signals from each detection area is realized.Firstly,this paper first investigates and analyzes the Hall effect,and then establishes the mathematical model of magnetic field strength and Hall voltage by combining the mathematical relationship between magnetic field strength and distance on the axis of permanent magnets.The simplified mathematical model is simulated and analyzed by MATLAB software to determine the linear detection interval.The design of the multidimensional sensor is carried out according to the Hall effect detection principle and the mechanical self decoupling principle,and the mechanical self decoupling transfer process and working mode of axial force,bending moment and torque are described;meanwhile,the mechanical self decoupling characteristics of the sensor are simulated and analyzed by ANSYS finite element simulation software,and the simulation results prove the decoupling principle of the sensor;and the structure is optimized and assembled with the actual processing situation The final sensor model is optimized and assembled with the actual machining.After that,the sensor parts are machined and fabricated,and the sensor prototype is assembled.Secondly,the decoupling characteristics of the sensor need to be proved by the simulation analysis results,and it needs to be verified at the theoretical level.In this paper,the mathematical modeling analysis of the sensor model is performed by applying the knowledge of mechanics,analyzing the specific parameters in the transmission process of axial force,bending moment and torque,and calculating them separately to obtain the mapping relationship between the input force and permanent magnet displacement,and combining with the formula of Hall voltage to obtain the exact relationship between the input force information and the output variation voltage,i.e.,the mapping matrix.The matrix results verify the self-decoupling property of the multidimensional sensor in this paper at the theoretical level.Finally,the comprehensive loading experimental platform developed by the laboratory itself is calibrated to ensure that it can be loaded accurately,and the sensor needs to be calibrated to determine the detection interval,the state of real-time detection and other information;at the same time,the coupling loading experiment,the related characteristics experiment and the speed detection experiment are conducted on the sensor,and through the speed detection experiment,it is also proved that the sensor in this paper can realize the real-time detection of speed;in addition,this paper In addition,the uncertainty analysis of the sensor detection process is conducted to measure the reliability of the detection process.The results of several experiments show that the Hall effect-based multidimensional sensor in this paper has mechanical selfcoupling capability and can realize wireless real-time detection with good performance in various characteristics.