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中文摘要：
摘耍：六维力传感器可以测量三维空间内3个方向上的力和力矩信息，在机器人感知和控制方面起着极其重要的作用．传感器的动态特性包括时域领域特性和频域领域特性．其中，固有频率和模态振型特征是传感器频率领域动态特性的重要参数．文章基于弹性力学中薄板和伯努利一欧拉梁理论建立传感器各模块动态数学模型，分析出各方向一阶固有频率和主振型，为传感器动态特性领域深入研究提供理论参考．关键词：六维力传感器；动态特性；薄板；伯努利一欧拉梁；固有频率中图分类号：TH39文献标识码：A
英文摘要：
Six dimensional force sensor can measure force and torque information in each direction of the space, which plays a very important role in the fields of perception and feedback control of robots. Sensor dynamic characteristics include time domain characteristics and frequency domain characteristics. Among them, natural frequency and vibration mode are the important parameters in frequency domain of sensor dynamic characteristics. This article establishes the dynamic mathematical model of sensor through theories of thin plate and Bernoulli Euler beam, and analyses the first-order natural frequency and main vibration model of each direction, which provides the theoretical reference for the research of sensor dynamic characteristics.
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