基于Stewart并联调姿平台的六维力测量与不确定度分析

在分析六维力静态解耦算法的基础上,提出基于牛顿迭代法的动态六维力解耦算法,构建六维力测量模型,基于蒙特卡洛仿真法实现了六维力测量不确定度评定算法,并设计相关试验算例进行验证.结果显示,六维力在X轴与Y轴方向的力分量测量不确定度分别为0.011 3N和0.011 4N,绕Z轴的力矩分量测量不确定度为0.008 3N·m.研究结果可以为Stewart并联调姿平台六维力测量的应用提供一定借鉴.

Measuring and Uncertainty Analysis of Six-dimensional Force Based on Stewart Platform

As Stewart platform used in thesix-dimen-sional force measurement is becoming more and more widely , the accuracy of six-dimensional force measurement and evalu-ation methods have become the research hot spot.On the ba-sis of analyzing the static decoupling algorithm of six-dimen-sional force ,the dynamic decoupling algorithm of six-dimen-sional force based on the New ton iteration method is presen-ted.And the measurement model of six-dimensional force is built.The evaluation algorithm of measurement uncertainty of six-dimensional force is achieved based on the monte-carlo simulation method , and proved by designing the related tests.Results show that the measurement uncertainty of the force components in the X axis and Y axis is 0.0113N and 0. 0114N respectively ,and the measurement uncertainty of the torque components around the Z axis is 0.0083Nm.The re-search of this paper can provide certain reference for the ap-plication of Stewart platform used in the measurement of six-dimensional force.