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| Stewart结构六维力传感器力各向同性研究 | |
| 引用本文： | 张晓辉,高峰,贺永生.Stewart结构六维力传感器力各向同性研究[J].机械设计,2004,21(7):9-11. |
| 作者姓名： | 张晓辉 高峰 贺永生 |
| 作者单位： | 1. 燕山大学,电气工程学院,河北,秦皇岛,066004 2. 河北工业大学,天津,300130 3. 秦皇岛港航建设工程有限公司,河北,秦皇岛,066002 |
| 基金项目： | 国家 8 63高技术研究发展计划资助项目 (863 - 51 2 - 980 4 - 0 2 ) |
| 摘 要： | 对于Stewart并联结构的六维力传感器，当坐标系建立在下平台的几何中心处，根据传感器的静态数学模型，研究了力各向同性指标，得到力各向同性的具体解析表达式，同时对力各向同性进行了图谱分析，并研究了坐标系变化时力各向同性指标。 |
| 关 键 词： | 六维力传感器 力各向同性 图谱分析 Stewart结构 坐标系 |
| 文章编号： | 1001-2354(2004)07-0009-03 |
Stud of force isotropy of six-dimensioned force sensor with Stewart structure |
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| ZHANG Xiao-hui,GAO Feng,HE Yong-sheng.Stud of force isotropy of six-dimensioned force sensor with Stewart structure[J].Journal of Machine Design,2004,21(7):9-11. | |
| Authors: | ZHANG Xiao-hui GAO Feng HE Yong-sheng |
| Affiliation: | ZHANG Xiao-hui~1,GAO Feng~2,HE Yong-sheng~3 |
| Abstract: | While the coordinate system for a Stewart parallel-structured six dimensional force sensor was established at the place of geometric center of the lower platform and according to the static mathematic model the indices of force isotropy were being studied. The concrete analytic expression of force isotropy was obtained, meanwhile the atlas analysis was carried out upon the force isotropy and the indices of force isotropy were studied when the coordinate system was changed. |
| Keywords: | six-dimensional force sensor force isotropy atlases analysis variation of coordinate system |
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