并联机器人力感觉系统的研究

Study on force sensing system of parallel robot

提出了在 6自由度并联机器人的 6个连杆上集成拉、压力传感器 ,组成力感觉系统 ,建立 6个传感器受力与动平台所受 6维合外力的解析关系 ,从而通过检测 6个传感器的受力就可以确定并联机器人动平台的受力情况。在分析国内外并联力感觉系统的基础上 ,着重介绍了该力感觉系统的集成和力学建模过程 ,并给出了实验结果。

A new force sensing system of 6DOF parallel robot is proposed by integrating 6 pullpress sensors on the 6 linkages.And the analytic relationship between the force measured by sensors and the real force undertaken by the movingflat is also built up.So the force acting on the movingflat is determined by measuring the 6 sensors.On the basis of analysis of force sensing system at home and abroad,the integrating process and the mechanical model are discussed in details,and subsequently,the experiment result is given.