Static analysis on new force sensing system of 6-DOF parallel robot

被引：0
|
作者：
Sun, Li-Ning [1 ]
Yu, Ling-Tao [1 ]
Du, Zhi-Jiang [1 ]
Zhu, Yu-Hong [1 ]
机构：
[1] Robot Res. Inst., Harbin Inst. of Technol., Harbin 150001, China
来源：
Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology | 2004年 / 36卷 / 08期
关键词：
Mathematical models - Parallel processing systems - Sensors;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
A new force sensing system of 6-DOF parallel robot was proposed by integrating 6 pull-press sensors on the 6 linkages. The analytic relationship between the force measured by sensors and the real force undertaken by the moving-flat was also built up. So the force acting on the moving-flat is determined by measuring the 6 sensors. Considering the self-gravity of the linkages, analyze the statics of the force sensing system. By using 6-PTRT parallel robot with the new force sensing system, a realistic experiment result is proved to be feasible.
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页码：1030 / 1033
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