摘要
基于变异形式的Stewart平台机构 ,设计了一种新颖的 3 -2 -1正交结构的机器人六分量腕力传感器 ,应用并联机器人机构学理论 ,推导出力六分量表达式并对其刚度特性进行分析 ,为其设计和使用提供理论依据 ,这种六分量腕力传感器 。
On the basis of variant styled structure of Stewart platform a new typed six-component wrist force sensor of robot with 3-2-1 orthogonal structure was designed. By adopting the theory of parallel robotic mechanism expressions of six component force were derived and an analysis of stiffness propertics of the sensor was carried out. Thus provided a theoretical basis for its design and application. This six-component wrist force sensor possesses the advantage of simplified computing method for solving and decoupling force and moment.
出处
《机械设计》
CSCD
北大核心
2001年第5期12-14,共3页
Journal of Machine Design
基金
国家‘8 63’高技术研究发展计划资助项目!(863 - 51 2 - 980 4 - 0 2 )
关键词
六分量腕力传感器
正交结构
并联机构
刚度
Six-component wrist force sensor, Orthogonal structure, Parallel mechanism, Stiffness
