摘要
目前研究并联结构六维力传感器多以各向同性作为传感器性能优劣的评价指标,而实际中,传感器是用来执行一定的任务,而这一任务并不一定需要传感器为各向同性的结构。故而,面向任务的传感器结构设计具有重要的工程实践意义。基于此,应用螺旋理论建立并联式六维力传感器的静态数学模型;基于抓取规划中作业建模思想,建立传感器的任务模型,并将任务模型分为力椭球模型和力矩椭球模型;系统深入地研究传感器模型和任务模型之间的关系。推导出传感器结构参数与任务模型之间的解析关系式,提出基于任务的传感器性能优劣评价的数学描述。以新型整体预紧式双层并联结构六维力传感器为例,针对执行插销作业和探测任务分别进行具体的传感器结构参数设计,得到了传感器结构参数与任务之间的关系式。研究内容为并联结构传感器在实际应用中的结构设计奠定了基础。
Currently,the performance of the parallel six-component force sensor is mostly evaluated by the isotropy.However,in practice,the sensor is used to perform a certain task which is not necessarily to be isotropic.Therefore,task-oriented structural design of a sensor has important significance to the practical application of the six-component force sensor.The static mathematic model is built by using the screw theory.Based on the task ellipsoid which is proposed from the grasping planning,the task model,which is divided into the force ellipsoid and the torque ellipsoid,is built.The relationship between the sensor and the task is studied.Then the analytical expression is deduced.The mathematic description of task-oriented performance evaluation is proposed.The six-component force sensor based on the Stewart platform which is used to perform the task of the inserted pin and the exploration is studied respectively,and the relationship between the task model and the structural parameters of the sensor is obtained.The research results are useful for the practical application of the six-component force sensor.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2011年第11期7-13,共7页
Journal of Mechanical Engineering
基金
国家自然科学基金(50975245)
河北省自然科学基金(E2011203184)
江苏省数字化制造技术重点建设实验室开放课题(HGDML-0911)资助项目
关键词
力传感器
并联结构
任务
Force sensor Parallel structure Task
