基于局部去耦的重载Stewart 6维力传感器精度与刚度的综合优化设计

发布时间：2018-05-17 01:22

  本文选题：Stewart + 维力传感器　； 参考：《机器人》2017年06期

【摘要】：为了满足工业机器人用6维力传感器高精度、高刚度、大承载的性能要求,提出了一种局部去耦的设计方法,对重载Stewart 6维力传感器进行兼顾精度与刚度的综合优化.首先,通过结构参数优化,获取最优参数;其次,结合球铰去耦样机和无去耦措施样机的实验数据,分析得出耦合因素对传感器各支路输出特性的影响;再次,对传感器进行局部去耦设计,并通过有限元仿真加以验证.最后,样机实验结果显示相较于传统结构Stewart 6维力传感器,局部去耦的重载Stewart 6维力传感器除同样保留了较高的测试精度之外,在刚度方面也有大幅提升,可满足设计需求.
[Abstract]:In order to meet the requirements of high precision, high stiffness and large load capacity of 6-axis force sensor used in industrial robot, a design method of local decoupling is proposed, which can optimize the precision and stiffness of the heavy-duty Stewart _ 6 force sensor. Firstly, the optimal parameters are obtained by optimizing the structure parameters. Secondly, combining the experimental data of the spherical hinge decoupling prototype and the undecoupled prototype, the effect of coupling factors on the output characteristics of each branch of the sensor is analyzed. Thirdly, The local decoupling design of the sensor is carried out and verified by finite element simulation. Finally, the experimental results of the prototype show that compared with the traditional Stewart 6 axis force sensor, the partially decoupled Stewart 6 axis force sensor not only retains high measurement accuracy, but also has a significant improvement in stiffness, which can meet the design requirements.
【作者单位】： 陕西电器研究所;
【基金】：陕西省科技统筹创新工程计划(604287478005)
【分类号】：TP212;TP242
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本文编号：1899280