Spatially isotropic configuration of Stewart platform-based force sensor
Spatially isotropic configuration of Stewart platform-based force sensor
复制标题
基于Stewart平台的力传感器的空间各向同性配置
DOI：
10.1016/j.mechmachtheory.2010.10.002
复制
发表时间：
2011-02-01
影响因子：
5.2
通讯作者：
Zhao, Yongsheng
中科院分区：
文献类型：
--
作者：
Yao, Jiantao;Hou, Yulei;Zhao, Yongsheng
采用解析方法研究了Stewart平台式力传感器的各向同性结构。介绍了空间各向同性组态的条件。对经典Stewart平台式力传感器的各向同性性能进行了研究，结果表明理论上不可能实现空间各向同性。提出了一种改进的Stewart平台式力传感器，该力传感器可实现空间各向同性。为了获得空间各向同性构型，推导了导致空间各向同性构型的关键结构参数的解析关系。从解析结果中可以很容易地得到空间各向同性构型的类别。(C)2010爱思唯尔有限公司保留所有权利。
This paper studies isotropic configuration of the Stewart platform-based force sensor using an analytic approach. The conditions leading to spatially isotropic configuration are introduced. The isotropic performance of the classical Stewart platform-based force sensor is studied, the result indicates that it is impossible to realize spatial isotropy in theory. A modified Stewart platform-based force sensor which can achieve spatial isotropy is proposed. In order to obtain spatially isotropic configuration, the analytic relations of key structural parameters leading to spatially isotropic configuration are derived. Classes of spatially isotropic configurations can be easily obtained from the analytic results. (C) 2010 Elsevier Ltd. All rights reserved.