摘要
A novel orthogonal-parallel six-axis force/torque sensor is studied based on a modified Stewart platform architecture,and the optimal design and experiment research of the sensor are discussed.Firstly,the model of orthogonal parallel six-axis force/torque sensor based on improved Stewart platform architecture and its static mathematical model are proposed.Secondly,according to the actual working condition of the sensor,the sensor is optimized and the optimal solution is obtained.Then,the experimental prototype and calibration system is developed.Finally,the superiority of the sensor structure and the effectiveness of the optimization method are verified by calibration experiments.The results of the proposed method are useful for the further research and application of the orthogonal-parallel six-axis force/torque sensor.
作者
王志军
Liu Lu
Cui Bingyan
He Jing
Li Zhanxian
Wang Zhijun;Liu Lu;Cui Bingyan;He Jing;Li Zhanxian(College of Mechanical Engineering,North China Universily of Science and Technology,Tangshan 063210,P.R.China;Hebei Province Research Institute of Industrial Robot Industry Technology,Tangshan 063210,P.R.China;Tangshan Industrial Vocational Technical College,Tangshan 063020,P.R.China)
基金
Supported by the National Natural Science Foundation of China(No.51505124)
Foster Fund Projects of North China University of Science and Technology(No.JP201505)
the Science and Technology Research Project of Hebei Province(No.ZD2020151).
