Force/Moment Isotropy of 8/4-4 Parallel Six-Axis Force Sensor Based on Performance Atlases  

作　　者：Song Weishan Li Chenggang Wang Chunming Song Yong Wu Zefeng Rajnathsing Hemant 

机构地区：[1]College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautics

出　　处：《Transactions of Nanjing University of Aeronautics and Astronautics》2018年第6期1018-1026,共9页南京航空航天大学学报（英文版）

基　　金：supported by the Open Foundation of Graduate Innovation Base(Laboratory)of Nanjing University of Aeronautics and Astronautics (No.kfjj20170512);the National Natural Science Foundation of China(No. 51175263)

摘　　要：A six-axis force sensor with parallel 8/4-4 structure is introduced and its measurement principle is analyzed.Based on condition numbers of Jacobian matrix spectral norm of the sensor,the relationship between the force and moment isotropy and some structural parameters is deduced.Orthogonal test methods are used to determine the degree of primary and secondary factors that have significant effect on sensor characteristics.Furthermore,the relationship between each performance index and the structural parameters of the sensor is analyzed by the method of the atlas,which lays a foundation for structural optimization design of the force sensor.A six-axis force sensor with parallel 8/4-4 structure is introduced and its measurement principle is analyzed.Based on condition numbers of Jacobian matrix spectral norm of the sensor,the relationship between the force and moment isotropy and some structural parameters is deduced.Orthogonal test methods are used to determine the degree of primary and secondary factors that have significant effect on sensor characteristics.Furthermore,the relationship between each performance index and the structural parameters of the sensor is analyzed by the method of the atlas,which lays a foundation for structural optimization design of the force sensor.

关 键 词：six-axis FORCE sensor JACOBIAN matrix condition number ISOTROPY ORTHOGONAL test indices ATLASES 

分 类 号：TN925[电子电信—通信与信息系统]