Statics and stiffness analysis of a novel six-component force/torque sensor with 3-RPPS compliant parallel structure

被引：12

作者：

Lu, Yi ^{[1
,2
]}

Chen, Liwei ^{[1
]}

Wang, Peng ^{[1
]}

Zhang, Bing ^{[1
]}

Zhao, YongSheng ^{[1
]}

Hu, Bo ^{[1
]}

机构：

[1] Yanshan Univ, Coll Mech Engn, Qinhuangdao 066004, Hebei, Peoples R China

[2] Minist Natl Educ, Key Lab Adv Forging & Stamping Technol & Sci, Parallel Robot & Mechatron Syst Lab Hebei Prov, Beijing, Peoples R China

来源：

MECHANISM AND MACHINE THEORY | 2013年 / 62卷

基金：

中国国家自然科学基金;

关键词：

Compliant structure; Parallel mechanism; Stiffness model; Statics model; STEWART PLATFORM; MANIPULATORS; DESIGN;

D O I：

10.1016/j.mechmachtheory.2012.12.001

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

A statics and stiffness model of a novel six-component force/torque sensor with a 3-RPPS compliant parallel structure is established and analyzed based on a 3-RPS parallel mechanism. First, the basic principle of the developed sensor is explained and a static model of the 3-RPS parallel mechanism is established. Second, a stiffness model of the RPPS-type compliant limb is derived, and the stiffness of the single standard force sensor is determined by measuring the forces of the standard force sensor under given workloads. Third, the statics model among the forces of the standard force sensors and the external load are established, and the forces of the six standard force sensors are measured under given external load. Fourth, a finite element (FE) model of the proposed sensor is established, the forces applied on standard sensor are solved. Finally, the analytical solutions of the stiffness model and statics model of the developed sensor are obtained and verified by its FE model solutions and experimental solutions. (C) 2012 Elsevier Ltd. All rights reserved.

引用

页码：99 / 111

页数：13

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