Pre-stressed six-axis force/torque sensor based on Stewart platform

ZHAO Lei; LIU Wei; GONG Yan

doi:10.3788/OPE.20111912.2954

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Pre-stressed six-axis force/torque sensor based on Stewart platform

Micro/nano technoloy and fine mechanics | 更新时间：2020-08-12

- Pre-stressed six-axis force/torque sensor based on Stewart platform
- Optics and Precision Engineering Vol. 19, Issue 12, Pages: 2954-2962(2011)
- 作者机构：
  
  1. 中国科学院长春光学精密机械与物理研究所应用光学国家重点实验室,吉林长春 130033
  2. 大连理工大学精密与特种加工教育部重点实验室,辽宁大连 116023
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20111912.2954
  CLC： TH823;TP212.1
- Received：03 March 2011，
  
  Revised：01 April 2011，
  
  Published Online：25 December 2011，
  
  Published：25 December 2011
- 稿件说明：
移动端阅览
赵磊, 刘巍, 巩岩. 预紧式Stewart结构六维力/力矩传感器[J]. 光学精密工程, 2011,19(12): 2954-2962

ZHAO Lei, LIU Wei, GONG Yan. Pre-stressed six-axis force/torque sensor based on Stewart platform[J]. Editorial Office of Optics and Precision Engineering, 2011,19(12): 2954-2962
赵磊, 刘巍, 巩岩. 预紧式Stewart结构六维力/力矩传感器[J]. 光学精密工程, 2011,19(12): 2954-2962 DOI： 10.3788/OPE.20111912.2954.

ZHAO Lei, LIU Wei, GONG Yan. Pre-stressed six-axis force/torque sensor based on Stewart platform[J]. Editorial Office of Optics and Precision Engineering, 2011,19(12): 2954-2962 DOI： 10.3788/OPE.20111912.2954.

摘要

针对六维力/力矩传感器测量量程受限问题

提出一种具有分载测量功能的预紧式Stewart结构六维力/力矩传感器。首先

对比传统Stewart结构力/力矩传感器

阐述了预紧式六维力/力矩传感器的结构特点和测量原理。然后

完成了预紧式Stewart结构六维力/力矩传感器的结构设计。建立了传感器的有限元模型

对模型进行了模态分析

得到了传感器的前五阶固有频率和振型

并确定了传感器的工作带宽为0~204 Hz。最后

研究了传感器的静态标定原理

并对传感器进行了静态标定实验

得到了传感器的标定实验解耦矩阵。实验结果表明

该预紧式Stewart结构六维力/力矩传感器的测力量程为0~3 000 N

测力矩量程达0~300 Nm

测量精度优于实际值的7.5%。传感器能够满足空间六维力/力矩的测量

具有量程大、解耦计算简单、安装调试方便等优点。

Abstract

A pre-stressed six-axis force/torque measurement method based on a Stewart platform was established to extend its measuring range. Compared to the traditional Stewart six-axis force/torque sensor

the principle of the pre-stressed Stewart six-axis force/torque measurement was analyzed. Then

structure design of the sensor was finished. By using the ANSYS software

a finite element model for the pre-stressed Stewart six-axis force/torque sensor was established. According to this model

the vibration modal was analyzed

and the natural frequencies and vibration modes were obtained. Finally

principle of the sensor calibration was analyzed

and the sensor coupling matrix was calculated according to the data of a static calibration experiment. Experimental results indicate that this pre-stressed Stewart six-axis force/torque sensor has the measuring ranges of 0~3 000 N for the force and 0~300 Nm for the torque

and its measuring accuracy is better than 7.5% of the actual data. It shows its advantages in wide measuring range

easy to decoupling and convenient for assembly.

关键词

Keywords

references

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