基于Stewart机构的六维力/力矩传感器

基于Stewart机构的六维力/力矩传感器是一种十分优越的测力传感器，具有测力接触面大、承载能力强、量程大、测力信息丰富等优点，可被广泛应用在航空机器人、航空航天技术及宇宙空间器的对接试验、风洞试验等场合。根据以上特点，阐述Stewart机构的六维力/力矩传感器的测力原理，分析传感器的受力变形，零部件设计尺寸和理论尺寸的制造误差及安装误差对其测力精度的影响，并对其结构参数进行优化设计。提出一种标定方法，研究其标定算法。对自主研制的Stewart六维力/力矩传感器进行标定试验，得出该传感器的标定矩阵。研究结果表明，用标定矩阵代替传感器理论影响系数矩阵参与6个单向力传感器输出信号的耦合，能够有效地提高该传感器的测力精度。

Six-axis Force/Torque Sensor Based on Stewart Platform

The six-axis force/torque sensor based on Stewart platform is a superior force sensor. It has advantages such as large contact plane, high carrying capability, large measuring range, and rich information of force testing. It has been applied extensively in the technology of robot, aerospace, the test of jointing for out space ship, and the test of wind tunnel. According to all features of the sensor, the principle of sensor has been expounded, and its elastic deformation, parameter design, manufacture and installation errors that will affect the sensor’s measurement accuracy are analyzed. The parameter and structure optimization of the Six-axis Stewart force/torque sensor is studied. A method of calibration, researching on the sensor’s calibration algorithm is presented. And then its calibrated matrix is obtained after calibration experiment on the sensor. It will improve the sensor’s measurement accuracy when its ideal structural coefficient matrices have been substituted by calibrated matrix in the coupling of the output signals from six force sensors.