摘要
研究了一种新型的三腿六维力传感器的测力性能,基于3-RPS(转动副-移动副-球副)并联机构研制传感器样机,建立了该样机的静力模型,得到了施加在传感器上的外力与传感器本身6个单维力传感器的映射关系;对新型传感器进行了静态标定实验,根据实验结果分析传感器的测力性能,得到三腿六维力传感器的测力性能评价指标,为该传感器的优化及应用提供了参考依据和基础。
A novel prototype of parallel sensor with three rigid-compliment hybrid limb is built. Its measuring performances are analyzed. The statics formula of the parallel sensor with three rigid-compliment hybrid limb is established based on statics formula of the 3-RPS parallel manipulator. Its measuring performances such as isotropy, linearity, sensitivity, stiffness are analyzed. The experiment statics calibration is conducted. Finally, the analytical solutions of the statics model of the developed sensor are obtained and verified. The theoretical solutions are verified by experiments.
出处
《燕山大学学报》
CAS
2014年第2期127-133,共7页
Journal of Yanshan University
基金
河北省应用基础计划重点基础项目(11962127D)
国家自然基金资助项目(51175447)
关键词
六维力传感器
静态标定实验
各向同性
静态特性
six-component force/torque parallel sensor
static calibration
isotropy
stiffness
