基于复合单叶双曲面的广义Gough-Stewart结构六维力传感器各向同性优化设计  

Optimal Design of the Isotropy Performance of a Six-dimensional Force Sensor Based on a Generalized Gough-Stewart Structure Lying on a Pair of Circular Hyperboloids

作　　者：佟志忠[1] 姜洪洲[1] 何景峰[1] 张辉[1] 

机构地区：[1]哈尔滨工业大学机电工程学院,黑龙江哈尔滨150080

出　　处：《航空学报》2013年第11期2607-2615,共9页Acta Aeronautica et Astronautica Sinica

基　　金：国家自然科学基金(51105090)

摘　　要：六维力传感器力敏元件的结构设计是实现低耦合、高精度性能的关键,标准Gough-Stewart结构六维力传感器力各向同性度的最佳值为0.707,其力各向同性的本质不可达特性直接影响测量精度。为此采用广义Gough-Stewart结构设计六维力传感器,通过具有最小结构参数描述集的复合单叶双曲面描述定义、分析力各向同性问题,推导了封闭、解析的数学描述,证明了其力各向同性的可达性,提出了满足力测量中心位置需求的力各向同性空间六维力传感器Gough-Stewart并联结构设计方法。研究表明所提出的设计和综合方法不仅是一种构造一类力各向同性广义GoughStewart结构六维力传感器的新方法,还是一种并联机构构型综合的新方法。For a six-dimensional force sensor, a key issue in its structural design is to realize low coupling and high preci- sion. A standard Gough-Stewart structure based six-dimensional force sensor is able to achieve the best force isotropy with a value of 0.707, and its intrinsic isotropy performance directly affects the measuring accuracy of a sensor. In this paper, a generalized Gough-Stewart structure is used to design a six-dimensional force sensor. The concept of a pair of circular hy- perboloids is introduced to define a generalized Gough-Stewart structure with minimal and independent description parame- ters, and to achieve the optimal design of a six-dimensional force sensor with isotropy. The optimal design routine is built by deriving the closed-form and analytic formulation. Full force isotropy is proven accessible. An performed routine is proposed to design the Gough-Stewart structure with force isotropy for a six-dimensional force sensor, which could meet the position requirement of the force measure point. The research shows that the proposed routine is a novel method to generate a class of six-dimensional force sensors with best isotropy based on generalized Gough-Stewart structures, and also is a new synthe- sis method of parallel mechanisms.

关 键 词：广义Gough—Stewart结构 各向同性 复合单叶双曲面 力传感器 优化设计 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TM930.2[自动化与计算机技术—控制科学与工程]