摘要
针对六维力传感器实际应用中所完成的任务不同,提出一种基于工况函数模型的并联结构六维力传感器结构参数优化方法,该方法所得到的优化结果更有利于传感器的受力和测量性能。首先介绍正交并联六维力传感器结构,并进行静力平衡方程求解,然后提出了基于工况函数模型的并联结构六维力传感器参数优化方法,以测力分支量程最小为优化目标,得到满足要求的结构参数及对应的测力分支最小量程。最后对正交并联六维力传感器进行结构参数优化,来验证该优化方法的可行性。
According to the actual application of six-axis force sensor in different tasks,a parameter optimization method of parallel structure six-axis force sensor is proposed based on task condition function model. The optimization results obtained by this method are more conducive to the force and measurement performance of sensors. Firstly, the structure of the orthogonal parallel six-axis force sensor is introduced and the static equilibrium equation is solved. And then, the parameter optimization method of parallel structure six-axis force sensor is proposed based on condition function model. The required structural parameters and the minimum measuring range of the force measuring branches are obtained aiming for the minimum of measuring limbs range. Finally, structure parameters optimization of orthogonal parallel six axis force sensor is carried out,which can verify the feasibility of the optimization method.
作者
贺静
王志军
崔冰艳
李占贤
HE Jing;WANG Zhi-jun;CUI Bing-yan;LI Zhan-xian(Tangshan Polytechnic College,Hebei Tangshan 063299,China;School of Mechanical Engineering North China University of Science and Technology,Hebei Tangshan 063210,China)
出处
《机械设计与制造》
北大核心
2019年第5期257-260,共4页
Machinery Design & Manufacture
基金
国家自然科学基金资助项目(51505124)
河北省自然科学基金资助项目(E2016209312)
华北理工大学培育基金项目(JP201505)
关键词
六维力传感器
正交并联
工况函数
参数优化
Six-Axis Force Sensor
Orthogonal Parallel
Task Condition Function
Parameter Optimization
