并联结构力传感器力矩各向同性研究

Study of Torque Isotropy of Force Sensor Based on Stewart Structure

六维力传感器可以同时测量空间六维广义力 ,已成为机器人研究领域的重点之一。文中研究的是一种新型、适用于机器人手腕和指尖的Stewart结构的六维力传感器 ,分析其力矩各向同性指标 ,得到力矩各向同性的具体解析表达式 ,同时对力矩各向同性进行了图谱分析 ,并研究了坐标系变化对力矩各向同性指标的影响 ,为该六维力传感器的结构设计奠定了理论基础 ,其研究结果具有理论和实用价值。

Six-dimension force sensor can measure six-dimension generalized force in space simultaneously.It has been one emphases among robot research fields.In this paper,a new type of six-dimension force sensor based on Stewart structure is studied.It is applied to the wrist or finger tip of robot.The indices of torque isotropy are analyzed.Analytic expression of torque isotropy is provided.Furthermore,atlases of torque isotropy of sensor and effect on torque isotropy with coordinate system changing are also studied.The result can be used for structure design and has both the theoratical and applied value.