Optimal design and experiment research of an orthogonal-parallel six-axis force/torque sensor

王志军; Liu Lu; Cui Bingyan; He Jing; Li Zhanxian

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Optimal design and experiment research of an orthogonal-parallel six-axis force/torque sensor

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摘要

A novel orthogonal-parallel six-axis force/torque sensor is studied based on a modified Stewart platform architecture,and the optimal design and experiment research of the sensor are discussed.Firstly,the model of orthogonal parallel six-axis force/torque sensor based on improved Stewart platform architecture and its static mathematical model are proposed.Secondly,according to the actual working condition of the sensor,the sensor is optimized and the optimal solution is obtained.Then,the experimental prototype and calibration system is developed.Finally,the superiority of the sensor structure and the effectiveness of the optimization method are verified by calibration experiments.The results of the proposed method are useful for the further research and application of the orthogonal-parallel six-axis force/torque sensor.

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《高技术通讯：英文版》 |2021年第2期|184-192|共9页
作者
王志军; Liu Lu; Cui Bingyan; He Jing; Li Zhanxian;
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作者单位

College of Mechanical Engineering;

North China University of Science and Technology;

Tangshan 063210;

P.R.China;

Hebei Province Research Institute of Industrial Robot Industry Technology;

Tangshan 063210;

P.R.China;

Tangshan Industrial Vocational Technical College;

Tangshan 063020;

P.R.China;

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原文格式 PDF
正文语种 chi
中图分类自动化技术及设备;
关键词
six-axis force sensor; optimal design; online static calibration; working condition;

Optimal design and experiment research of an orthogonal-parallel six-axis force/torque sensor

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