摘要
提出了一种新型的基于Stewart平台的预紧式六维力传感器结构,并对其进行了位姿误差分析。以经典Stewart平台六维力传感器为比较对象,描述了新型预紧式六维力传感器的结构特点;综合利用影响系数法和矢量法建立其位姿误差模型,定义位姿误差灵敏度指标并据此绘制误差灵敏度直方图以分析不同误差因素对传感器位姿误差的影响;最后,研制出传感器样机并完成了标定实验。实验结果表明,该传感器测力精度在1%以内。所研究内容对六维力传感器的设计制造和实验标定具有理论指导意义。
In order to obtain the six-component force sensor with excellent comprehensive performance, a novel pre-stressed six-component force sensor based on Stewart platform was presented, and its position and orientation error was analyzed. Compared with the traditional Stewart platform-based six-component force sensor, the structure feature of proposed pre-stressed six-component force sensor was described. Then, the mathematical model of the position and orientation error was established using the influence coefficient method and vector method, the position and orientation error sensitivity indices were defined and the influence conditions of different error factors on the sensor＇s position and orientation error were analyzed by plotting histograms of error sensitivity. Finally, a sensor prototype was fabricated and the calibration experimentation was carried out. The experimental results indicate that the force measurement precision of the prototype is within 1%, which shows the research is useful for the design and calibration experimentation of the six-component force sensor.
出处
《光学精密工程》
EI
CAS
CSCD
北大核心
2008年第7期1258-1265,共8页
Optics and Precision Engineering
基金
国家自然科学基金资助项目(No.50575192)
河北省自然科学基金资助项目(No.E2007000349)
