摘要
基于 Ｓｔｅｗａｒｔ平台的并联结构 ６维力传感器由其上平台半径 Ｒ_１、下平台半径 Ｒ_２、连杆长 Ｌ、上平台定位角 θ_Ｂ及下平台定位角θ_Ａ等５个结构参数确定，而该传感器的各向同性只与Ｒ_１、Ｒ_２、Ｌ及上下平台定位角之差θ_ＡＢ等４个结构参数有关，与 θ_Ａ、θ_Ｂ无关，对这一重要结论进行了论证。
The 6-axis force/torque sensor based on Stewart platform is determined by five mechanism parameters (radius of upper platform and down platform R_1 and R_2,the length of the link L,the angle of upper platform and down platform θ_A and θ_B ). Isotropy of the sensor is only determined by four parameters (R_1, R_2, L and the angle difference of upper platform and down platform θ_AB ). The conclusion is proved.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2000年第4期49-52,共4页
Journal of Mechanical Engineering
基金
国家863计划
