Dynamics of hyperstatic parallel six-component force sensor

HOU Yu-lei; ZENG Da-xing; YAO Jian-tao; SUN Feng-long; ZHAO Yong-sheng

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Dynamics of hyperstatic parallel six-component force sensor

Article | 更新时间：2020-08-12

- Dynamics of hyperstatic parallel six-component force sensor
- Optics and Precision Engineering Vol. 17, Issue 7, Pages: 1594-1601(2009)
- 作者机构：
  
  1. 燕山大学机械工程学院,河北秦皇岛,066004
  2. 宝山钢铁股份有限公司钢管厂上海,201900
- 作者简介：
- 基金信息：
- DOI：
  CLC： TP212.12
- Received：29 July 2008，
  
  Revised：09 October 2008，
  
  Published Online：25 July 2009，
  
  Published：25 July 2009
- 稿件说明：
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侯雨雷, 曾达幸, 姚建涛, 孙凤龙, 赵永生. 超静定并联式六维力传感器动力学[J]. 光学精密工程, 2009,17(7): 1594-1601

HOU Yu-lei, ZENG Da-xing, YAO Jian-tao, SUN Feng-long, ZHAO Yong-sheng. Dynamics of hyperstatic parallel six-component force sensor[J]. Editorial Office of Optics and Precision Engineering, 2009,17(7): 1594-1601
侯雨雷, 曾达幸, 姚建涛, 孙凤龙, 赵永生. 超静定并联式六维力传感器动力学[J]. 光学精密工程, 2009,17(7): 1594-1601 DOI：

HOU Yu-lei, ZENG Da-xing, YAO Jian-tao, SUN Feng-long, ZHAO Yong-sheng. Dynamics of hyperstatic parallel six-component force sensor[J]. Editorial Office of Optics and Precision Engineering, 2009,17(7): 1594-1601 DOI：

摘要

提出了一种新型的基于Stewart平台的超静定并联式六维力传感器结构

并对其进行了动力学理论分析和有限元仿真研究。描述了该传感器相对于经典Stewart平台六维力传感器所具有的结构特点;利用有限元法

采用位移协调和力平衡条件建立了传感器弹性动力学理论模型

依此模型进行数值分析

绘制了固有频率与各结构参数间变化关系曲线;并利用ANSYS软件建立了传感器有限元模型

进行了振动模态分析

得到其固有频率和振型。研究内容为深入开展六维力传感器的弹性动力学分析与综合及动态优化设计奠定了基础。

Abstract

A novel structure of hyperstatic parallel six-component force sensor based on the Stewart platform was proposed

and its theoretical dynamics analysis and finite element simulation were performed. The structure feature of the sensor was described in comparison with the classical Stewart platform-based six-component force sensor. By using the finite element method

the elastic dynamics theoretical model of the sensor was established based on the conditions of displacement consistency and force balance. According to this model

the numerical analysis was carried out

and the variety relationship curves between the natural frequencies and the structural parameters are plotted. By using a ANSYS software

the finite element model of the sensor was built to analyze the vibration modal of the sensor

and the natural frequencies and the vibration modes were obtained. The research results establish the foundation for the further dynamics analysis and synthesis of the sensor and the dynamic optimization design of the sensor.

关键词

Keywords

references

KERR D R. Analysis, properties and design of a Stewart-platform transducer [J]. Mech. Transm. Autom. Design, 1989,1 (11):25-28.[2] KANG C G. Closed-form force sensing of a 6-axis force transducer based on the Stewart platform [J]. Sensors and Actuators A: Physical, 2001,90:31-37.[3] DWARAKANATH T A, DASGUPTA B, MRUTHYUNJAYA T S. Design and development of a Stewart platform based force-torque sensor [J]. Mechatronics, 2001,11(7):793-809.[4] FERRARESI C, PASTORELLI S, SORLI M, et al. Static and dynamic behavior of a high stiffness Stewart platform-based force/torque sensor [J]. Journal of Robotic Systems, 1995,12(12):883-893.[5] LI Y F, CHEN X B. On the dynamic behavior of a force/torque sensor for robots [J]. IEEE Transactions on Instrumentation and Measurement, 1998,47(1):304-308.[6] PARK Y K, KUMME R, KANG D I. Dynamic investigation of a binocular six-component force-moment sensor [J]. Measurement Science and Technology, 2002,13(8):1311-1318.[7] 姚裕, 吴洪涛, 张召明. 基于Kane方法的Stewart传感器动力学及固有频率分析[J]. 动力学与控制学报, 2004,2(2):84-87. YAO Y, WU H T, ZHANG ZH M. The natural frequencies analysis for Stewart transducer based on the Kane's method [J]. Journal of Dynamics and Control, 1991,27(2):13-20. (in Chinese)[8] WANG H R, GAO F, HUANG ZH. Design of 6-axis force/torque sensor based on Stewart platform related to isotropy [J]. Chinese Journal of Mechanical Engineering, 1998,11(3):217-222.[9] JIN ZH L, GAO F, ZHANG X H. Design and analysis of a novel isotropic six-component force/torque sensor [J]. Sensors and Actuators A: Physical, 2003,109:17-20.[10] ZHAO Y S, HOU Y L, YAN ZH W, et al. Research and design of a pre-stressed six-component force/torque sensor based on the Stewart platform . Proceedings of IDETC/CIE 2005, ASME,2005,7B:573-581.[11] 黄真, 赵永生, 赵铁石. 高等空间机构学[M]. 高等教育出版社, 北京, 2006,284-300. HUANG ZH, ZHAO Y SH, ZHAO T SH. Advanced Spatial Mechanism [M]. Beijing:Higher Education Press, 2006,284-300.(in Chinese)[12] YAO J T, HOU Y L, LU L, et al.. Analysis of a pre-stressed six-component force/torque sensor based on Stewart platform . IEEE International Conference on Robotics and Biomimetics,2006.

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