基于Stewart平台的六维力传感器在风洞天平中应用

The Implementations of a Stewart Platform Based Force-torque Sensor in Wind Tunnel Balance

主要研究基于 Stewart平台的六维力传感器在风洞天平中的应用 ,及其结构的优化设计。根据最小条件数准则进行运动学设计 ,依据力变换矩阵条件数的各向同性进行结构优化设计 。

The implementations and optimum design of a Stewart platform based force torque sensor in the wind tunnel balance are studied. The kinematical design is obtained on the basis of minimum condition number criteria and the optimum design is fulfilled according to the isotropy of the condition number of force transformation matrix. Besides, numerical examples are provided to testify the result.