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.
引用
下载
收藏
页码：1030 / 1033
相关论文
共 50 条
  • [31] MOTION/FORCE TRANSMISSIBILITY BASED PERFORMANCE EVALUATION OF A 6-DOF PARALLEL ROBOT WITH 2-DOF ACTIVE JOINTS
    Mei, Bin
    Xie, Fugui
    Liu, Xin-Jun
    Luo, Xuan
    PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, 2018, VOL 5A, 2018,
  • [32] Force/Position Cooperative Control for 6-DOF Parallel Platform
    Li, Haihai
    Hao, Kuangrong
    Ding, Yongsheng
    ADVANCED MECHANICAL DESIGN, PTS 1-3, 2012, 479-481 : 1790 - 1794
  • [33] A new approach to orientation workspace analysis of 6-DOF parallel manipulators
    Bonev, IA
    Ryu, J
    MECHANISM AND MACHINE THEORY, 2001, 36 (01) : 15 - 28
  • [34] Development of 6-DOF Painting Robot Control System
    Huang, Junbiao
    Liu, Jianqun
    Gao, Weiqiang
    SEVENTH INTERNATIONAL CONFERENCE ON ELECTRONICS AND INFORMATION ENGINEERING, 2017, 10322
  • [35] Stiffness analysis for 6-dof mouth training parallel robot WY-5
    Carbone, G
    Takanobu, H
    Ceccarelli, M
    Takanishi, A
    Ohtsuki, K
    Ohnishi, M
    Okino, A
    PROCEEDINGS OF THE 2003 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM 2003), VOLS 1 AND 2, 2003, : 1234 - 1238
  • [36] 6-DOF Force Sensing for the Master Tool Manipulator of the da Vinci Surgical System
    Black, David G.
    Hosseinabadi, Amir H. Hadi
    Salcudean, Septimiu E.
    IEEE ROBOTICS AND AUTOMATION LETTERS, 2020, 5 (02) : 2264 - 2271
  • [37] A 3-Armed 6-DOF Parallel Robot for Femur Fracture Reduction: Trajectory and Force Testing
    Alruwaili, Fayez
    Saeedi-Hosseiny, Marzieh S.
    Guzman, Lance
    McMillan, Sean
    Iordachita, Iulian I.
    Abedin-Nasab, Mohammad H.
    2022 INTERNATIONAL SYMPOSIUM ON MEDICAL ROBOTICS (ISMR), 2022,
  • [38] Design of a new 6-dof parallel haptic device
    Lee, JH
    Eom, KS
    Yi, BJ
    Suh, IH
    2001 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, 2001, : 886 - 891
  • [39] A new isotropic and decoupled 6-DoF parallel manipulator
    Legnani, G.
    Fassi, I.
    Giberti, H.
    Cinquemani, S.
    Tosi, D.
    MECHANISM AND MACHINE THEORY, 2012, 58 : 64 - 81
  • [40] Kinematic Analysis of Novel 6-DOF Delta Robot
    Zhang J.
    Xu T.
    Fang H.
    Zhang L.
    Nongye Jixie Xuebao/Transactions of the Chinese Society for Agricultural Machinery, 2020, 51 (03): : 419 - 426
12345