基于IPSO-FEM的柔性六维力传感器多目标优化OA

Six-axis force/torque sensor is a measuring device that is the most difficult to be developed in the field of robot force percep-tion because it includes a number of design indicators that restrict each other.One of the core issues of development is to solve the sen-sor structure design and optimization problems.Theoretical analysis is combined with experiment to optimize a flexure six-axis force/torque sensor,whose analytical expression of stiffness model is difficult to be solved.Firstly,the parameter optimization model of the flexible six-axis force/torque sensor is established and the influence of structural parameters on the objective function is also analyzed.Secondly,combined with nonlinear inertia weight coefficient,nonlinear learning factors and particle mutation operation,PSO is improved.Based on this,the optimization framework of the flexure six-axis force/torque sensor is established by integrating SOLIDWORKS,ABAQUS and MATLAB with ISIGHT.The force/torque sensitivity,isotropy and the condition number of the calibration matrix are con-sidered as optimization objectives and the main structural parameters are taken as design variables.Under the constraint conditions of stiffness and strength,the structure optimization of the flexure six-axis force/torque sensor is realized and the optimal solution is ob-tained through the fuzzy set theory.The simulation performance of the sensor before and after optimization is compared and analyzed.Fi-nally,the validity of the optimization method is verified through the prototype experiment and decoupling analysis.The results show that the comprehensive performance of the flexure six-axis force/torque sensor is significantly improved and using the current optimization method can effectively solve the problem of six-axis force/torque sensor structure optimization caused by the inability to establish an ac-curate stiffness model.