机器人的手腕测力装置

本文研究了一种利用静定结构来构成机器人手腕测力装置的新方案。给出了设计的原理结构，导出了测力关系式。为提高测力装置的测量精度与稳定性，研究了该装置的结构条件数。按条件数最小的原理计算了装置的最优和次优的结构参数。

A STUDY ON WRIST FORCE SENSOR FOR ROBOT

In this paper a study for the design of a robot wrist force sensor using an isostatic structure is given. Items studied are; design outline; derivation of the matrix relating generalized forces acting at the gripper with those measured at the structure; the condition number of the aforementioned matrix in closed form; the determination of design parameters for maximum accuracy via condition-number minimization. Some results are obtained for design purposes from which either the optimum or suboptimum values can be obtained.