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首页> 外文期刊>Mechanism and Machine Theory: Dynamics of Machine Systems Gears and Power Trandmissions Robots and Manipulator Systems Computer-Aided Design Methods >Isotropy analysis of redundant parallel six-axis force sensor
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Isotropy analysis of redundant parallel six-axis force sensor

机译：冗余并联六轴力传感器的各向同性分析

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摘要

The structural model of generalized redundant parallel six-axis force sensor is proposed. Based on the modified Stewart platform, its mathematical model is established with screw theory. The structural models of four typical redundant six-axis force sensors are proposed and their mathematical models are established for the corresponding structures. The isotropy of the four structural models is analyzed. The parameters relation leading to spatially isotropic configuration is conduced and demonstrated by a numerical example. Analytic solutions to the isotropy of the four models are conducted and their valid range of the analytic results leading to isotropic configuration is discussed. The conclusion is drawn that under the condition of force isotropy, two structures with the relatively least thickness are selected when all the legs of different structures are the same. (C) 2015 Elsevier Ltd. All rights reserved.
机译：提出了广义冗余并联六轴力传感器的结构模型。基于改进的Stewart平台，利用螺丝理论建立其数学模型。提出了四个典型的冗余六轴力传感器的结构模型，并为相应的结构建立了数学模型。分析了四个结构模型的各向同性。数值实例推导并证明了导致空间各向同性构型的参数关系。进行了四个模型各向同性的解析解，并讨论了导致各向同性构型的解析结果的有效范围。得出的结论是，在力各向同性的条件下，当不同结构的所有支腿都相同时，选择厚度最小的两个结构。 （C）2015 Elsevier Ltd.保留所有权利。

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