| 新型机器人6维力／力矩传感器结构的刚度性能指标分析 |
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| 引用本文： | 金振林,高峰. 新型机器人6维力／力矩传感器结构的刚度性能指标分析[J]. 中国机械工程, 2001, 12(10): 1092-1094 |
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| 作者姓名： | 金振林 高峰 |
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| 作者单位： | [1]燕山大学，河北省066004 [2]河北工业大学，天津市300130 |
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| 基金项目： | 国家863高技术研究发展计划资助项目(863-512-9804-02) |
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| 摘 要： | 提出了一种新颖的6维力/力矩传感器并联结构，应用并联机器人机构学理论求出其刚度矩阵，定义其刚度性能指标，并对其刚度性能指标进行分析计算，为该传感器的设计与应用提供理论依据。分析计算结果表明，该并联结构的6维力/力矩传感器是位移刚度和扭转刚度各项同性的，可应用到机器人手腕、手指和其它使用多维力/力矩传感器的场合。
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| 关 键 词： | 并联结构 力／力矩传感器 刚度指标 各项同性 机器人 |
| 文章编号： | 1004-132X(2001)10-1092-03 |
Analysis of Stiffness Indices for a Novel Architecture of Robot's 6-AxisForce/Torque Sensor |
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| JIN Zhenlin. Analysis of Stiffness Indices for a Novel Architecture of Robot's 6-AxisForce/Torque Sensor[J]. China Mechanical Engineering, 2001, 12(10): 1092-1094 |
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| Authors: | JIN Zhenlin |
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| Abstract: | In the design of robot's force/torque sensors, the innovation for the structure design is one of the most important activities since the improvements on performance of robot's sensors can be achieved with aid of the innovation.A novel parallel architecture of robot's 6-axis force/torque sensor is presented. Based on the theory of parallel robotic mechanisms, the stiffness matrix is obtained and the stiffness indices of the sensor is defined and analyzed, which is useful for the optimal design and application of the sensor. The results show that the translational stiffness and the torsional stiffness of the novel parallel architecture sensor are characterized by isotropy. It can be applied to robotic wrist and finger, etc.. |
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| Keywords: | parallel architecture force/torque sensor stiffness index isotropy |
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