Performance analysis and comprehensive index optimization of a new configuration of Stewart six-component force sensor
Performance analysis and comprehensive index optimization of a new configuration of Stewart six-component force sensor
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一种新型Stewart六分量力传感器性能分析及综合指标优化
DOI：
10.1016/j.mechmachtheory.2008.03.008
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发表时间：
2009-02-01
影响因子：
5.2
通讯作者：
Zhao, Yongsheng
中科院分区：
文献类型：
--
作者：
Hou, Yulei;Yao, Jiantao;Zhao, Yongsheng
提出了一种基于Stewart平台的六分量力/扭矩传感器的新构型，并对该六分量力传感器进行了性能分析和综合指标优化。在经典Stewart平台力传感器的基础上，提出了一种改进的传感器结构，并利用螺旋理论建立了其静力学数学模型。用力雅可比矩阵奇异值定义的条件数和广义放大系数来评价传感器的各向同性、灵敏度、刚度等性能。利用相应的力映射矩阵，建立了球面关节摩擦力矩对传感器的影响。结合所定义的性能指标，利用指标图集和遗传算法对改进的Stewart六分量力传感器结构参数进行综合指标优化。本文的研究成果对六分量力传感器的设计和进一步研究具有一定的指导意义。(c) 2008 Elsevier Ltd.版权所有。
This paper proposes a new configuration of six-component force/torque sensor based on Stewart platform, and discusses the performance analysis and comprehensive index optimization of the six-component force sensor. Based on the classical Stewart platform-based force sensor, a modified sensor structure is proposed, and their statics mathematical models are built by using the screw theory. The condition number and generalized amplifying coefficient defined by singular values of force Jacobian matrix are used to evaluate the performance of sensor, such as isotropy, sensitivity, stiffness, etc. The effect of spherical joint frictional moment on the sensor is established by using the related force mapping matrix. With the combination of the defined performance indices, the comprehensive index optimization of the structural parameters of the modified Stewart six-component force sensor is achieved by using the indices atlases and genetic algorithm. The research results of the paper are useful for the design and further research of the six-component force sensor. (c) 2008 Elsevier Ltd. All rights reserved.