基于时间函数的并联六维力传感器量程设计

Design of parallel six-axis force sensor measuring range based on time function

针对并联六维力传感器设计与制造过程中面临的解耦计算复杂、量程确定困难、实用性不强等问题,应用螺旋理论,推导了其受六维外力向测量分支反作用力的映射矩阵;基于工程实际,提出并建立了并联六维力传感器测量分支作用反力的时间函数模型;提出了一种在特定工作环境下测量分支量程的确定方法。以Stewart并联结构为例,针对曲面打磨作业,确定了其测量分支的量程,验证了时间函数模型的正确性和可行性。研究内容对提高并联结构六维力传感器的工程应用性有重要的实践价值。

Aiming at issues of complex decoupling calculation,difficult to determine range and poor practicability,etc,in process of design and manufacture of parallel six-axis force sensor,mapping matrix from sixdimensional external force in space to measure axial force of branches is deduced with screw theory applied; based on engineering practice,time-function model for measuring axial force of branches by parallel structure six-axis force sensor is proposed and set up; a kind of determination method for measuring range of branches in designated work environment is put forward. Take the Stewart parallel structure for example,aimed at curve polish work,measuring range of branches measuring is determined,then validity and feasibility of time function model are verified. The research contents have important practical value to improve the engineering practicability of parallel structure six-axis force sensor.