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基于Stewart并联结构六维力/力矩传感器在空间六维力的准确检测上具有广泛前景,设计低耦合、高精度、易于标定和使用的六维力/力矩传感器是其结构设计的关键问题。传统Stewart并联结构几何参数描述为6个相互耦合的变量,不利于实现设计参数与设计指标的解耦,而且非正交条件下的各向同性使得六维力/力矩传感器仍存在耦合,为此提出基于单叶双曲面定义并构造Stewart并联结构,将最小结构参数描述集元素数量减至3个,利用解析的静态数学模型推导满足传感器正向和逆向的力/力矩各向同性的条件,以得到二者相互制约的关系,给出解耦中心数学表达式。通过综合各个性能指标,提出了优化设计方法,给出了构造一类各向同性的Stewart并联结构六维力/力矩传感器的新方法,为该类传感器设计提供了新路线。
The six-dimensional force / moment sensor based on the Stewart parallel structure has wide prospects in the accurate detection of space six-dimensional force. Designing a six-dimensional force / moment sensor with low coupling, high precision, easy calibration and use is a key issue in structural design. The geometrical parameters of the traditional Stewart parallel structure are described as six mutually coupled variables, which is not conducive to the decoupling of the design parameters from the design specifications. And the isotropy under non-orthogonal conditions makes the coupling of six-dimensional force / torque sensors still exist. Based on the definition of single-leaf hyperboloid and the construction of Stewart parallel structure, the minimum number of elements in the description of structure parameters is reduced to three. The analytic static mathematical model is used to deduce the condition of force / moment isotropy that meets the positive and negative of sensor. Get the mutual restraint relationship between the two, give the decoupling center mathematical expressions. By synthesizing each performance index, an optimal design method is proposed and a new method of constructing a kind of isotropic Stewart parallel six-dimensional force / torque sensor is proposed. This method provides a new route for the design of this kind of sensor.