Performance analysis and optimization of sizable 6-axis force sensor based on Stewart platform

被引：12

作者：

Zhao, Yanzhi ^{[1
]}

Zhao, Tieshi ^{[1
]}

Wen, Rui ^{[1
]}

Wang, Hongguang ^{[2
]}

机构：

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

[2] Chinese Acad Sci, Shenyang Inst Automat, Shenyang 110016, Peoples R China

来源：

2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS I-V, CONFERENCE PROCEEDINGS | 2007年

基金：

中国国家自然科学基金;

关键词：

Stewart platform; sizable 6-axis force sensor; index atlas; performance analysis; optimization;

D O I：

10.1109/ICMA.2007.4303891

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

To improve the performances of the parallel 6-axis force sensor with Stewart platform, the paper plots the indices atlases based on the screw theory. and the theory of physical model of the solution space, and summaries the laws how the structure parameters affect the indices. Then, the sizable parallel 6-axis force sensor's structure parameters are optimized in nonlinear single objective and multi-objective respectively, in order to obtain better performances than that of the initial ones. So, the powerful basis and method are raised for design and optimization of the sizable parallel Stewart platform 6-axis force sensor with general spherical joint.

引用

页码：2189 / +

页数：2

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