机器人2017，Vol.39Issue(6)：838-843,6.DOI:10.13973/j.cnki.robot.2017.0838
基于局部去耦的重载Stewart 6维力传感器精度与刚度的综合优化设计
The Accuracy and Stiffness Comprehensive Optimal Design of the Heavy Load Stewart Six-axis Force Sensor Based on Partial Decoupling Method
摘要
Abstract
In order to satisfy the high precision, high stiffness and high load bearing requirements of the six-axis force sensor for industrial robots, a partial decoupling design idea is presented. A heavy load Stewart six-axis force sensor is synthetically optimized based on both the accuracy and the stiffness. Firstly, a set of optimal parameters are obtained by the structural parameter optimization. Secondly, the influence of coupling factors on the output characteristics of each branch is analyzed, combining with the experimental data of the spherical hinge prototype and the prototype without decoupling. Thirdly, the sensor is designed by partial decoupling and verified by finite element simulation. Finally, the prototype ex-periment results demonstrate that the designed partial decoupled six-axis force sensor shows a significantly raised stiffness besides a high precision compared with the traditional Stewart six-axis force sensor, which satisfies the design requirements.关键词
Stewart/6维力传感器/局部去耦/刚度优化/精度优化Key words
Stewart/six-axis force sensor/partial decoupling/stiffness optimization/accuracy optimization分类
信息技术与安全科学引用本文复制引用
高波,王晨,屈文轩,满龙..基于局部去耦的重载Stewart 6维力传感器精度与刚度的综合优化设计[J].机器人,2017,39(6):838-843,6.基金项目
陕西省科技统筹创新工程计划(604287478005). （604287478005）
