摘要
在分析六维力静态解耦算法的基础上,提出基于牛顿迭代法的动态六维力解耦算法,构建六维力测量模型,基于蒙特卡洛仿真法实现了六维力测量不确定度评定算法,并设计相关试验算例进行验证.结果显示,六维力在X轴与Y轴方向的力分量测量不确定度分别为0.011 3N和0.011 4N,绕Z轴的力矩分量测量不确定度为0.008 3N·m.研究结果可以为Stewart并联调姿平台六维力测量的应用提供一定借鉴.
As Stewart platform used in thesix-dimensional force measurement is becoming more and more widely,the accuracy of six-dimensional force measurement and evaluation methods have become the research hot spot.On the basis of analyzing the static decoupling algorithm of six-dimensional force,the dynamic decoupling algorithm of six-dimensional force based on the Newton iteration method is presented.And the measurement model of six-dimensional force is built.The evaluation algorithm of measurement uncertainty of six-dimensional force is achieved based on the monte-carlo simulation method,and proved by designing the related tests.Results show that the measurement uncertainty of the force components in the X axis and Y axis is 0.0113 Nand 0.0114 Nrespectively,and the measurement uncertainty of the torque components around the Z axis is 0.0083 Nm.The research of this paper can provide certain reference for the application of Stewart platform used in the measurement of sixdimensional force.
出处
《成组技术与生产现代化》
2015年第4期53-56,共4页
Group Technology & Production Modernization
关键词
六维力测量
测量不确定度
蒙特卡洛仿真
测量仿真
measurement of six-dimensional force
measure-ment uncertainty
Monte-Carlo simulation
measurement simulation
