Optimal design and experiment research of an orthogonal-parallel six-axis force/torque sensor

被引：0
作者：
Wang Z. [1 ,2 ]
Liu L. [1 ,2 ]
Cui B. [1 ,2 ]
He J. [3 ]
Li Z. [1 ,2 ]
机构：
[1] College of Mechanical Engineering, North China University of Science and Technology, Tangshan
[2] Hebei Province Research Institute of Industrial Robot Industry Technology, Tangshan
[3] Tangshan Industrial Vocational Technical College, Tangshan
来源：
High Technology Letters | 2021年 / 27卷 / 02期
基金：
中国国家自然科学基金;
关键词：
Online static calibration; Optimal design; Six-axis force sensor; Working condition;
D O I：
10.3772/j.issn.1006-6748.2021.02.009
中图分类号：
学科分类号：
摘要：
A novel orthogonal-parallel six-axis force/torque sensor is studied based on a modified Stewart platform architecture, and the optimal design and experiment research of the sensor are discussed. Firstly, the model of orthogonal parallel six-axis force/torque sensor based on improved Stewart platform architecture and its static mathematical model are proposed. Secondly, according to the actual working condition of the sensor, the sensor is optimized and the optimal solution is obtained. Then, the experimental prototype and calibration system is developed. Finally, the superiority of the sensor structure and the effectiveness of the optimization method are verified by calibration experiments. The results of the proposed method are useful for the further research and application of the orthogonal-parallel six-axis force/torque sensor. Copyright © by HIGH TECHNOLOGY LETTERS PRESS.
引用
收藏
页码：184 / 192
页数：8
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