• CN：11-2187/TH
  • ISSN：0577-6686
机械工程学报

›› 2004, Vol. 40 ›› Issue (9): 71-74.

• 论文 • 上一篇    下一篇

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新型解耦和各向同性五维力传感器性能分析

高峰;陈玉龙;彭斌彬;李为民;张建军   

  1. 上海交通大学机械与动力工程学院;燕山大学机械工程学院;北京航空航天大学机械工程学院;河北工业大学机械工程学院
  • 发布日期:2004-09-15

NOVEL DECOUPLED AND ISOTROPIC 5-AXIS FORCE/TORQUE ROBOT SENSOR

Gao Feng;Chen Yulong;Peng Binbin;Li Weimin;Zhang Jianjun   

  1. School of Mechanical and Power Energy Engineering, Shanghai Jiaotong University School of Mechanical Engineering, Yanshan University School of Mechanical Engineering, Beijing University of Aeronautics and Astronautics etc.
  • Published:2004-09-15

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摘要： 介绍基于并联4-SPS&1-UPU结构的新型机器人五维力与力矩传感器的结构特点，并分析计算了其力与应 变之间的转换关系及其力各向同性，为该五维力与力矩传感器的设计和使用提供了理论依据，分析计算结果表明该传感器是力与力矩解耦和各向同性的。该传感器采用弹性铰链替代球铰和虎克铰，具有结构灵巧、工艺好等优点，可应用到机器人手指和其他使用多维力与力矩传感器的场合。

关键词: 并联机构, 各向同性, 机器人, 力传感器, 单层磨料砂轮, 控制, 修整, 阈值, 圆跳动

Abstract: The design feature of a novel 5-axis force/torque robot sensor based on parallel 4-SPS&1-UPU architecture is presented. The isotropy index of the sensor and the transformation between of force and strain are analyzed, which is useful for the optimal design and application of the sensor. The results show that the sensor is decoupled and isotropic. Because the elastic joints are proposed for the real spherical joints and the real universal joints, the sensor has dexterous architecture and good technological advantage. It can be applied to robotic finger, etc.

Key words: Force sensor, Isotropy, mechanism, Parallel, Robot, Control, Dressing, Radial circular run-out error, Threshold value, Monolayer abrasive grinding wheel

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