Pre-stressed six-axis force/torque sensor based on Stewart platform

被引：2
|
作者：
Zhao L. [1 ,2 ]
Liu W. [1 ]
Gong Y. [2 ]
机构：
[1] Key Lab. for Precision and Non-traditional Machining Technology of the Ministry of Education, Dalian University of Technology
[2] State Key Laboratory of Applied Optics, Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences
来源：
Guangxue Jingmi Gongcheng/Optics and Precision Engineering | 2011年 / 19卷 / 12期
关键词：
Decoupling matrix; Six-axis force/torque sensor; Stewart parallel structure;
D O I：
10.3788/OPE.20111912.2954
中图分类号：
学科分类号：
摘要：
A pre-stressed six-axis force/torque measurement method based on a Stewart platform was established to extend its measuring range. Compared to the traditional Stewart six-axis force/torque sensor, the principle of the pre-stressed Stewart six-axis force/torque measurement was analyzed. Then, structure design of the sensor was finished. By using the ANSYS software, a finite element model for the pre-stressed Stewart six-axis force/torque sensor was established. According to this model, the vibration modal was analyzed, and the natural frequencies and vibration modes were obtained. Finally, principle of the sensor calibration was analyzed, and the sensor coupling matrix was calculated according to the data of a static calibration experiment. Experimental results indicate that this pre-stressed Stewart six-axis force/torque sensor has the measuring ranges of 0~3000 N for the force and 0~300 N·m for the torque, and its measuring accuracy is better than 7.5% of the actual data. It shows its advantages in wide measuring range, easy to decoupling and convenient for assembly.
引用
收藏
页码：2954 / 2962
页数：8
相关论文
共 14 条
  • [1] Watson P.C., Drake S.H., Pedestal wrist force sensors for industrial assembly, Proc. of the 5th Int. Symp. on Industrial Robots, pp. 501-511, (1975)
  • [2] Kegon, Robot Technology, pp. 56-61, (1983)
  • [3] Yoshikawa T., Miyazaki T., A six-axis force sensor with three-dimensional cross-shape structure, Proc. of IEEE Conf. on Robotics and Automation, 1, pp. 249-255, (1989)
  • [4] Ferraresi C., Static and dynamic behavior of a high stiffness stewart platform-based force/torque sensor, Journal of Robotic Systems, 12, 12, pp. 883-893, (1995)
  • [5] Hou Y.L., Zeng D.X., Zhao Y.S., Et al., Dynamics of hyperstatic parallel six-component force sensor, Opt. Precision Eng., 17, 7, pp. 1594-1601, (2009)
  • [6] Shen J.H., The new development of heavy force measurement technique-adhesion and super-miniature type of heavy force sensor, Engineering Science, 3, 10, pp. 22-27, (2001)
  • [7] Huang Z., Zhao Y.S., Zhao T.S., Advanced Spatial Mechanism, pp. 295-300, (2005)
  • [8] Chul-Goo K., Closed-form force sensing of a 6-axis-force transducer based on the Stewart platform, Sensors and Actuators A, 90, pp. 31-37, (2001)
  • [9] Koseki Y., Tanikawa T., Koyachi N., Et al., Kinematic analysis of translational 3-DOF micro parallel mechanism using matrix method, Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and System, pp. 786-792, (2000)
  • [10] Jia Z.Y., Liu W.L., In S., Et al., A force adjustable mechanisms using multi points pre-stressed method
12