Stewart结构六维力传感器力矩各向同性研究

Study of Torque Isotropy of Six-dimensional Force Sensor Based on Stewart Structure

对于Stewart并联结构的六维力传感器,应用并联机器人机构学理论,根据传感器的静态数学模型,研究当坐标系建立在下平台的几何中心处时,传感器的力矩各向同性指标。利用空间模型理论对力矩各向同性进行了图谱分析,并研究了坐标系变化时的力矩各向同性指标,以此作为该传感器的结构优化设计和应用的理论依据。

By using the theory of parallel robotic mechanism, the indices of torque isotropy of six-dimensional force sensor based on Stewart parallel structure with coordinate system locating on lower platform is presented according to static mathematic model. Furthermore, atlases of torque isotropy of sensor and effect on torque isotropy with coordinate system changing are also studied by using space model theory. It is used as theoretic gist for the optimal structure design and application of six-dimensional force sensor.