Theoretical and experimental study on dynamic performance of a double-layer pre-stressed six-axis force sensor

For a novel double-layer pre-stressed six-axis force sensor,the theoretical analysis and experimental study of dynamic performance are carried out.Firstly,structural characteristics of the double-layer pre-stressed six-axis force sensor are introduced.Then,the vibration system model of the sensor is established and the motion differential equation of the vibration system is deduced based on screw theory and multi-degree-of-freedom system vibration mechanics.The natural frequencies of the sensor are obtained by solving the differential equations of motion.Finally,dynamic performance experimental study of the sensor is conducted using step response method and the frequency response curves are obtained by FFT.The experiment results are consistent with the theoretical calculations,which verify the correctness of the theoretical analysis.The results show that the double-layer pre-stressed six-axis force sensor possesses good dynamic performance and can meet the requirements of six-dimensional force measurement in general industrial production.