Hyperstatic analysis of a fully pre-stressed six-axis force/torque sensor
Hyperstatic analysis of a fully pre-stressed six-axis force/torque sensor
复制标题
全预应力六轴力/扭矩传感器的超静态分析
DOI：
10.1016/j.mechmachtheory.2012.07.001
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发表时间：
2012-11-01
影响因子：
5.2
通讯作者：
Zhao, Yongsheng
中科院分区：
文献类型：
--
作者：
Wang, Zhijun;Yao, Jiantao;Zhao, Yongsheng
提出了一种基于改进的Stewart平台结构的全预应力双层六维力/力矩传感器，并对该传感器进行了超静力分析。首先确定了测量腿的数量，介绍了测量腿的结构特点。在数学模型和力映射矩阵的基础上，对传感器的力分布进行了分析。其次，将测量支腿上的力分解为特解(反作用力)和均质解(预紧力)。定义了测量肢体的刚度加权范数和加权Moore-Penrose逆，揭示了它们的物理意义。在此基础上，提出了一种确定预紧力的线性变换方法，以保证肢体的压缩。最后给出了数值算例和实验结果，验证了理论分析的正确性。本文的研究结果对全预应力六维力/力矩传感器的进一步研究和应用具有一定的参考价值。(C)2012爱思唯尔有限公司。保留所有权利。
This study proposes a fully pre-stressed dual-layer six-axis force/torque sensor based on a modified Stewart platform architecture, and discusses the hyperstatic analysis of the sensor. First of all, the number of measuring limbs is determined and the structure characteristics are introduced. Force distribution analysis of the sensor is conducted based on the mathematical model and force mapping matrix. Secondly, the forces on the measuring limbs are decomposed into particular solution (reacting force) and homogeneous solution (pre-tightening force). The stiffness weighted norm and weighted Moore-Penrose inverse of measuring limbs are defined, and their physical meanings are revealed. Then, a linear transformation method to determine the pre-tightening force is presented in order to ensure that the limbs be compressed. Finally, the numerical example and experimental result are performed, which demonstrate the correctness of the theoretical analysis. The results of the paper are useful for the further research and application of the fully pre-stressed six-axis force/torque sensor. (C) 2012 Elsevier Ltd. All rights reserved.