| 六维大力传感器测量原理研究 |
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| 引用本文： | 林盛,刘巍,王永青,贾振元.六维大力传感器测量原理研究[J].大连理工大学学报,2010,50(4):522-527. |
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| 作者姓名： | 林盛 刘巍 王永青 贾振元 |
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| 作者单位： | 大连理工大学精密与特种加工教育部重点实验室,辽宁,大连,116024 |
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| 基金项目： | "九七三"国家重点基础研究发展计划资助项目 |
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| 摘 要： | 针对巨型重载操作机六维大力测量的难题,提出了一种并联六维大力测量的方法,即采用Stewart结构与重型操作机械手手臂并联的方式,将机械手臂所受六维大力的小部分分载于Stewart结构的六杆,并对传感器进行力学解耦,进而实现六维大力值的测量.给出了六维大力传感器的仿真实例,并分析了传感器重要参数对分载能力的影响.实例表明:增大分载粱半径和减小上平台厚度都会提高分载能力,尤其分载粱半径对分载能力影响较大.为六维大力传感器的进一步优化设计提供了一定的理论依据,且最终验证了该测量方法的合理性和有效性.
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| 关 键 词： | 六维大力 分载 Stewart结构 传感器 |
Research on measuring principle of six-axis heavy force sensor |
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| LIN Sheng,LIU Wei,WANG Yongqing,JIA Zhenyuan.Research on measuring principle of six-axis heavy force sensor[J].Journal of Dalian University of Technology,2010,50(4):522-527. |
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| Authors: | LIN Sheng LIU Wei WANG Yongqing JIA Zhenyuan |
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| Institution: | LIN Sheng,LIU Wei,WANG Yong-qing,JIA Zhen-yuan Key Laboratory for Precision & Non-traditional Machining Technology of Ministry of Education,Dalian University of Technology,Dalian 116024,China |
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| Abstract: | To solve the difficult problem of measuring the six-axis heavy force,a method of parallel connection is presented,and the concrete implementing scheme is also established. Firstly,the Stewart structure is connected to the arm of heavy equipment in parallel,as a result,partial load of six-axis heavy force is shared on the Stewart structure. Secondly,mechanics decoupling method is used to get the six-axis force. Finally,simulation analysis of the six-axis heavy force sensor is conducted,and the effect of the ... |
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| Keywords: | six-axis heavy force partial load Stewart structure sensor |
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