摘要
分析了六维力/力矩传感器弹性体结构;提出了基于Stewart平台的球形连接分体式弹性体的设计方案;对Stewart平台的六维力弹性体结构进行建模,用有限元方法做单维力和力矩的加载求解;经数值分析得到应力与应变的分布,从而求解出最大受力分布点,经线性变化得到输出与载荷之间的传递矩阵,并求解出六维力大小;调整上下平台夹角α,β,半径R1,R2及杆长L等参数,对传感器结构参数进行设计,列出设计数据表为Stewart六维力传感器结构参数的设计提供了参考依据。
The elastic body of six-axis force/torque sensor is analyzed. The design scheme of dispersive elastic structure with ball gemel based on Stewart platform is presented. The model of elastic body is set up and single dimensional force or the toque is loaded on the model. With the finite element method, the strains at some key points on the elastic body of the sensor can be determined, and stress distribution is solved by numerical computation. Output values and transfer matrixes are obtained through linear transformation. The structure parameters are optimized and design tables are obtained by modifying five mechanism parameters (radius of upper platform and down platform R 1and R 2, the length of the link L, the angles of upper and down platforms α,β). This paper provides a reference basis for choosing and optimizing the structure parameters of Stewart six-axis forces sensor.
出处
《南京航空航天大学学报》
EI
CAS
CSCD
北大核心
2005年第3期376-380,共5页
Journal of Nanjing University of Aeronautics & Astronautics
基金
国家自然科学基金(50275077)资助项目
航空科学基金(02H52048)资助项目
中国高校博士点基金(20020287004)资助项目。
关键词
六维力传感器
STEWART平台
有限元方法
数值计算
six-axis force/torque sensor
Stewart platform
finite element method
numerical computation
