摘要
介绍了基于并联 6 -SPS结构的新型机器人六维力与力矩传感器的结构特点 ,并分析计算了其力与应变之间的转换关系及其力各向同性 ,为该六维力与力矩传感器的设计和使用提供了理论依据。分析计算结果表明该传感器是力与力矩解耦和各向同性的。该传感器采用弹性铰链替代球铰 ,具有结构灵巧、工艺性好等优点 ,可应用到机器人手腕、手指和其它使用多维力与力矩传感器的场合。
The design feature of a novel 6-axis force/torque robo t sensor based on parallel 6-SPS architecture is presented.The isotropy index o f the sensor and the transformation between of force and strain are analyzed, w hich is useful for the optimal design and application of the sensor. The results show that the sensor is decoupled and isotropic.Because the elastic joints are proposed for replacing the real spherical joints,the sensor has dexterous archit ecture and good technological advantage. It can be applied to robotic wrist and finger,etc.
出处
《传感器技术》
CSCD
2000年第4期26-28,共3页
Journal of Transducer Technology
基金
国家‘8 63’高技术研究发展计划资助项目!(863 - 51 2 - 980 4 - 0 2 )
关键词
机器人
力传感器
各向同性
robot
force snesor
isotropy
paralle l mechanism
