一种新型大刚度高灵敏度的并联六维力传感器设计研究

Research on the design of a new parallel six-axis force sensor with high rigidity and high sensitivity

腕力传感器是一类重要的机器人传感器,腕力传感器的结构设计好坏直接影响到传感器的各项指标。在分析了并联力传感器的力变换原理,利用并联传感器的空间力传递关系,直接推导出感测力的六维雅可比矩阵,并将六维力雅可比矩阵用具体的结构参数解析表达,在此基础上设计了一种新的并联六维力传感器,新设计的附加弹性体的采用,使该传感器具有很大的刚度,同时具有很高的检测灵敏度,从而很好地解决了传感器的刚度与灵敏度之间的矛盾,探索了传感器设计的新方法和途径。

Wrist force sensor is one of the most important robot sensors,which structure directly affects the index of the sensor.Through analyzing the theory of force exchange of the parallel force sensor,six dimensions force Jacobian matrix is inferred directly through using the spatial force transfer relations of the parallel sensor.Then the concrete structure parameter is expressed through the Jacobian matrix,based on which a new six-axis parallel force sensor is designed,which makes the rigidity and sensitivity of the sensors higher because of the application of new designed additional elastic component.Thus the contradiction between rigidity and sensitivity is solved,which has provided a good method and solution for other sensor design.