摘要
对六维力/力矩传感器弹性体结构进行了分析;提出了基于Stewart平台的球铰接分体式弹性体的设计方案;根据力的叠加原理对传感器分别施加单轴力,分析得到最大受力杆;并利用Matlab软件分析计算系数转换矩阵,得到施加的力与六维力之间的转换方程;调整上下平台夹角α、β及杆长L等参数,对传感器结构参数进行优化设计,得到设计数据表;为Stewart六维力传感器结构参数的选择及优化提供了参考依据。
The elastic body structure of six-axis force/torque sensor is analysed. The design scheme of fissional elastic body structure with ball gemel based on Stewart platform is presented. The single-axis force is inflicted to sensor according to force superposition principle, and the maximal force acted on the pole is obtained. Coefficient matrix is computed by using the software Matlab, and the transfer equation is obtained between inflicted force and six-axis forces. The structure parameters are optimized and design tables are formed through modifying α,β and L and so on. The results of this paper is helpful for the choice and optimization of the structure parameters of Stewart six-axis forces sensor.
出处
《机械科学与技术》
CSCD
北大核心
2005年第7期796-799,共4页
Mechanical Science and Technology for Aerospace Engineering
基金
国家自然科学基金项目(50275077)
航空科学基金项目(02H52048)资助
