A novel parallel sensor with six rigid compliant limbs for measuring six- component force/torque

被引：5

作者：

Lu, Yi ^{[1
]}

Wang, Yongli ^{[1
]}

Lu, Yang ^{[2
]}

机构：

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

[2] Harbin Elect Corp Qinhuangdao Heavy Equipment Co, Qinhuangdao 066004, Hebei, Peoples R China

来源：

JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY | 2019年 / 33卷 / 06期

基金：

中国国家自然科学基金;

关键词：

Parallel sensor; Rigid compliant hybrid limb; Six-component force; torque; 6-AXIS FORCE/MOMENT SENSOR;

D O I：

10.1007/s12206-019-0536-2

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

A novel parallel sensor with six rigid/compliant hybrid limbs and six standard force sensors is developed for measuring the six-component force/torque. The measuring theory and performances are studied. A prototype of the robot hybrid hands with the parallel sensor is developed. A prototype of the parallel sensor is built up and its merits and performances are analyzed. A statics equation among the forces of the standard force sensors and the whole external load and a stiffness model of the parallel sensor are established based on its equivalent parallel mechanism. The force/torque of the parallel sensor is measured under the given external load. The theoretical solutions of the statics model of the parallel sensor are obtained and verified by both the experimental measuring solutions of the prototype of the parallel sensor and the simulation solutions of a FE model.

引用

页码：2883 / 2892

页数：10

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