本文選題：Stewart + 維力傳感器�。� 參考：《機(jī)器人》2017年06期

【摘要】：為了滿足工業(yè)機(jī)器人用6維力傳感器高精度、高剛度、大承載的性能要求,提出了一種局部去耦的設(shè)計(jì)方法,對(duì)重載Stewart 6維力傳感器進(jìn)行兼顧精度與剛度的綜合優(yōu)化.首先,通過(guò)結(jié)構(gòu)參數(shù)優(yōu)化,獲取最優(yōu)參數(shù);其次,結(jié)合球鉸去耦樣機(jī)和無(wú)去耦措施樣機(jī)的實(shí)驗(yàn)數(shù)據(jù),分析得出耦合因素對(duì)傳感器各支路輸出特性的影響;再次,對(duì)傳感器進(jìn)行局部去耦設(shè)計(jì),并通過(guò)有限元仿真加以驗(yàn)證.最后,樣機(jī)實(shí)驗(yàn)結(jié)果顯示相較于傳統(tǒng)結(jié)構(gòu)Stewart 6維力傳感器,局部去耦的重載Stewart 6維力傳感器除同樣保留了較高的測(cè)試精度之外,在剛度方面也有大幅提升,可滿足設(shè)計(jì)需求.
[Abstract]:In order to meet the requirements of high precision, high stiffness and large load capacity of 6-axis force sensor used in industrial robot, a design method of local decoupling is proposed, which can optimize the precision and stiffness of the heavy-duty Stewart _ 6 force sensor. Firstly, the optimal parameters are obtained by optimizing the structure parameters. Secondly, combining the experimental data of the spherical hinge decoupling prototype and the undecoupled prototype, the effect of coupling factors on the output characteristics of each branch of the sensor is analyzed. Thirdly, The local decoupling design of the sensor is carried out and verified by finite element simulation. Finally, the experimental results of the prototype show that compared with the traditional Stewart 6 axis force sensor, the partially decoupled Stewart 6 axis force sensor not only retains high measurement accuracy, but also has a significant improvement in stiffness, which can meet the design requirements.
【作者單位】： 陜西電器研究所;
【基金】：陜西省科技統(tǒng)籌創(chuàng)新工程計(jì)劃(604287478005)
【分類(lèi)號(hào)】：TP212;TP242
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本文編號(hào)：1899280