六维大力传感器测量原理研究

Research on measuring principle of six-axis heavy force sensor

针对巨型重载操作机六维大力测量的难题,提出了一种并联六维大力测量的方法,即采用Stewart结构与重型操作机械手手臂并联的方式,将机械手臂所受六维大力的小部分分载于Stewart结构的六杆,并对传感器进行力学解耦,进而实现六维大力值的测量.给出了六维大力传感器的仿真实例,并分析了传感器重要参数对分载能力的影响.实例表明:增大分载梁半径和减小上平台厚度都会提高分载能力,尤其分载梁半径对分载能力影响较大.为六维大力传感器的进一步优化设计提供了一定的理论依据,且最终验证了该测量方法的合理性和有效性.

To solve the difficult problem of measuring the six-axis heavy force,a method of parallel connection is presented,and the concrete implementing scheme is also established. Firstly,the Stewart structure is connected to the arm of heavy equipment in parallel,as a result,partial load of six-axis heavy force is shared on the Stewart structure. Secondly,mechanics decoupling method is used to get the six-axis force. Finally,simulation analysis of the six-axis heavy force sensor is conducted,and the effect of the important parameters on the ability of load sharing is analyzed. Results show that the ability of load sharing is improved with the increment of the radius of load sharing beam and the reduction of the thickness of the upper platform,which presents theoretical basis for the design of this kind of sensor. Furthermore,the rationality and validity of this method are verified.