摘要
通过在6-DOF(6自由度)并联机器人各个杆件上集成拉、压力传感器,组成了新型力感觉系统.建立了6个传感器受力与动平台所受合外力、合外力矩的矩阵关系,从而只需检测6个1维传感器的受力就可以确定并联机器人动平台的受力情况.在考虑杆件自身重力的情况下,着重对该力感觉系统进行静力学分析,并以6-PTRT并联机器人为例,在该机器人上集成力感觉系统.实验结果表明该方法可行.
A new force sensing system of 6-DOF parallel robot was proposed by integrating 6 pull-press sensors on the 6 linkages. The analytic relationship between the force measured by sensors and the real force undertaken by the moving-flat was also built up. So the force acting on the moving-flat is determined by measuring the 6 sensors. Considering the self-gravity of the linkages, analyze the statics of the force sensing system. By using 6-PTRT parallel robot with the new force sensing system, a realistic experiment result is proved to be feasible.
出处
《哈尔滨工业大学学报》
EI
CAS
CSCD
北大核心
2004年第8期1030-1033,共4页
Journal of Harbin Institute of Technology
基金
国家高技术研究发展计划资助项目(2002AA420100-1).
