基于Stewart构型的六维力/力矩传感器刚柔度性能研究

Property study on the rigidity and flexibility of 6-dimensional force/moment sensor based on Stewart configuration

刚柔度是传感器的基本特性,是在工作空间中定量衡量其性能与结构参数间关系的重要指标。应用并联机器人机构学理论,对基于Stewart结构六维力传感器的性能指标进行理论推导,定义并分析了其刚度和柔度性能指标,为六维力传感器的优化设计和工程应用提供理论基础。

Rigidity and flexibility is the basic characteristics of sensor and is the important indexes for quantitatively weighing the relationship between its property and structural parameters in the working space. By applying the theory of mechanisms of parallel robot, a theoretical deduction was carried out on property indexes of 6-dimensional force sensor based on Steward structure. The property indexes of its rigidity and flexibility were defined and analyzed thus provided theoretical basis for the optimization design and engineering application of 6-dimensional force sensor.