一种新型过约束12-SS并联六维力传感器的数学模型与仿真计算  

Mathematics Model and Simulate Calculation of a Novel Over-constrained 12-SS Parallel Six-component Force/Torque Sensor

作　　者：赵延治[1,2] 鲁超[1,2] 赵铁石[1,2] 

机构地区：[1]燕山大学河北省机器人与机电系统实验室 [2]先进锻压成型技术与科学教育部重点实验室(燕山大学),秦皇岛066004

出　　处：《新型工业化》2013年第9期64-72,共9页The Journal of New Industrialization

基　　金：国家自然科学基金资助项目(51105322);高等学校博士学科点专项科研基金(20101333120001)

摘　　要：文中提出了一种新型过约束并联十二分支六维力传感器结构,基于螺旋理论建立了该新型过约束并联六维力传感器理想数学模型。在此基础上,考虑各分支结构弹性变形,针对垂向加载及水平加载两种典型工况,基于变形协调条件和静力平衡方程对该新型过约束超静定结构六维力传感器的受力情况进行了分析与仿真计算,绘制了数值算例下新型过约束并联六维力传感器各分支受力随外力变化的曲线图。A novel over-constrained parallel 12-SS six-component force/torque sensor mechanism is proposed and its ideal mathematic model is built based on the screw theory. Then, with the consideration of each branch's elastic deformation the simulation analysis and calculation is done in the two typical cases that the horizontal force and the vertical force is applied based on the deformation compatibility condition and the static equilibrium equations. On the basis of the numerical example, the curves of the novel over-constrained parallel six-component force/torque sensor's force acted on each branch and the external force are plotted.

关 键 词：六维力传感器 并联 超静定 

分 类 号：TH122[机械工程—机械设计及理论] TH123