|Table of Contents|

Design of Structural Parameters of Six-axis Force Sensor with Stewart Structure Based on Sensitivity Index

《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

Issue:
2008年02期
Page:
135-139
Research Field:
Publishing date:

Info

Title:
Design of Structural Parameters of Six-axis Force Sensor with Stewart Structure Based on Sensitivity Index
Author(s):
ZHANG Jing-zhu1XU Cheng1GUO Kai2
1.School of Mechanical Engioeering,NUST,Nanjing 210094,China;2.Nanjing Branch,Artillery Institute of PLA,Nanjing 211132,China
Keywords:
six-axis force sensors sensitivity influencing factors performance atlas
PACS:
TP212
DOI:
-
Abstract:
The factors influencing the sensitivity performance in the sensor system are analyzed,and the parallel robot mechanism theory is applied to the static mathematic model of sensor.Analytic solutions of sensitivity index are presented.The concepts of sensitivity influencing factors of both force and moment are introduced,and the influence laws of force/moment sensitivity influencing factor on the sensitivity index are presented.Based on space model theory,two-dimensional atlases of sensitivity index of sixaxis force sensor with Stewart structure are built with dimensionless parameters,which supplies an effective method for structure parameters design of six-axis force sensor with the parallel structure.

References:

[1] Kerr D R. Analysis, properties and design of a stewartp la tform transducer [ J]. Autom ation and Design, 1989 ( 111): 25- 28.
[2] M erlet J P. Para llel robot ( 1st Edition) [M ]. H oland: K luwe rAcadem ic Publishers, 2000.
[3] M erlet J P. Wo rkspace-or iented m ethodo logy fo r design ing a pa ra lle l m anipulato r [ A ]. Proc o f the 1996 IEEE In t Con f on Robo tics and Automa tion [ C]. M inneapo lis: IEEE Int Conf on Robotics and Autom ation, 1996. 3 726- 3 731.
[4] Dw arakanath T A, Dasgupta Bhaskar, M ruthyunjaya T S. Design and developm ent o f a Stew art p latform based fo rce-to rque sensor [ J]. Mechatronics, 2001, 11 ( 7): 793- 809.
[5] 武卫, 王占林. 气动S tew art平台结构参数的多目标 优化[ J] . 机械科学与技术, 2005, 24 ( 4 ): 451- 453.
[6] 杨晓钧, 王知行, 钟诗胜. 基于工作空间和灵活性 的并联机床结构参数优化设计[ J]. 机械与电子, 2004( 2): 14- 17.
[7] 赵克定, 杨灏泉, 吴盛林, 等. 基于Stew art平台的六 维力/力矩传感器各向同性的解析研究[ J]. 航空 学报, 2002, 23( 3): 241- 244.
[8] 姚裕. 基于并联天平的六分量并联天平及其力雅 可比矩阵研究[ J]. 机械科学与技术, 2004, 23( 7): 768- 770.
[9] 黄真, 孔令富, 方跃法. 并联机器人机构学理论及 控制[M ]. 北京: 机械工业出版社, 1997.
[10] K im Chan Soo. Optima l design of a fu lly parallel robot m an ipu lato r [ D]. Louisiana: Agr icultura l andMechanical Co llege, The Lou isiana S tateUn iversity, 1993.
[11] 金振林. 新型六自由度正交并联机器人设计理论 与应用技术研究[ D ]. 秦皇岛: 燕山大学机械工程 学院, 2001

Memo

Memo:
-
Last Update: 2008-04-30