传感技术学报2026，Vol.39Issue(1)：34-42,9.DOI:10.3969/j.issn.1004-1699.2026.01.005
柔顺并联式六维力传感器结构设计与研究
Design and Research on Flexure Parallel Six-Axis Force/Torque Sensor
摘要
Abstract
The developed Stewart six-axis force/torque sensors have many problems,such as difficult assembly,repeat calibration.First of all,based on Stewart parallel mechanism and flexible elements,a flexure parallel six-axis force/torque sensor is designed by using the method of equivalent rigid body replacement,and the structure of the sensor is described in detail.Secondly,the mathematical model of the sensor is established according to the screw theory and the five structural parameters of the sensor are optimized based on the genetic algorithm.Furthermore,the structure of the sensor under the isotropic optimal condition is obtained.On this basis,the stress,strain,sen-sitivity,stiffness and the first six eigenfrequencies of the sensors before and after optimization are analyzed by using finite element simu-lation.Finally,the prototype of the flexure parallel six-axis force/torque sensor is developed and tested.The linearity,repeatability,hys-teresis,stiffness and sensitivity of the prototype are calculated.The Class I and II accuracy errors of the prototype are calculated through the least squares and RBF Network,and the coupling characteristics of the prototype are analyzed.The reliability of the design is well verified.The research results show that the measurement accuracy of the sensor is better than 0.69%FS,which can be used for refer-ence in the development of multi-axis force/torque measuring devices.关键词
Stewart六维力传感器/遗传算法/数值模拟/柔性单元/灵敏度/精度Key words
Stewart six-axis force/torque sensor/genetic algorithm/numerical simulation/flexure unit/sensitivity/accuracy分类
信息技术与安全科学引用本文复制引用
王晨,高波,屈文轩,胡媛,王艳霞..柔顺并联式六维力传感器结构设计与研究[J].传感技术学报,2026,39(1):34-42,9.基金项目
陕西省教育厅科学研究计划项目(23JK0310) （23JK0310）
