Measurement method of six-axis load sharing based on the Stewart platform

被引：66

作者：

Jia, Zhen-Yuan ^{[1
]}

Lin, Sheng ^{[1
]}

Liu, Wei ^{[1
]}

机构：

[1] Dalian Univ Technol, Key Lab Precis & Nontradit Machining Technol, Minist Educ, Dalian 116024, Peoples R China

来源：

MEASUREMENT | 2010年 / 43卷 / 03期

关键词：

Six-axis; Load sharing; Heavy force; Sensor; Stewart platform;

D O I：

10.1016/j.measurement.2009.11.005

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

In this paper, a measurement method of six-axis load sharing based on the Stewart platform is presented. The force Jacobin matrix of the Stewart platform, the solution of forward kinematics of the Stewart platform and the deep beam element stiffness matrices were combined in the decoupling algorithm The FEM model was established, and the results of FEM analysis agreed well with the calculation results from proposed method, which proves the effectiveness of the method of six-axis load sharing. Moreover, a six-axis heavy force sensor based on the Stewart platform was demonstrated in order to investigate the reasonability and validity of the six-axis load sharing model. And the experiment results verified the feasibility of the method (C) 2009 Elsevier Ltd All rights reserved

引用

页码：329 / 335

页数：7

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