Task-Oriented Design Method and Experimental Research of Six-Component Force Sensor

被引：0
|
作者：
Yao, Jiantao [1 ,2 ]
Li, Wenju [1 ]
Zhang, Hongyu [1 ]
Xu, Yundou [1 ]
Zhao, Yongsheng [1 ,2 ]
机构：
[1] Yanshan Univ, Parallel Robot & Mechatron Syst Lab Hebei Prov, Qinhuangdao 066004, Peoples R China
[2] Yanshan Univ, Minist Educ China, Key Lab Adv Forging & Stamping Technol & Sci, Qinhuangdao 066004, Peoples R China
来源：
INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2014, PT I | 2014年 / 8917卷
关键词：
Parallel six-component force sensor; Design method; Task; Assembly experiment; STEWART-PLATFORM; TRANSDUCER;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
As the isotropy performance widely used for evaluating parallel six-component force sensor is not suitable for a certain task, the task-oriented design method of the sensor is proposed. The mathematic model of sensor is built with the screw theory; based on the task requirement, the task ellipsoid is established. Then, with ellipsoid method, the design method for the sensor structure is proposed and the structure constraints are deduced. In order to perform peg-in-hole assembly task with the task-oriented sensor, the sensor prototype is designed and manufactured. Based on the assembly platform, the experimental research is carried out. The research results are useful for the design and application of six-component force sensor.
引用
收藏
页码：1 / 12
页数：12
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