Design and analysis of parallel six-dimensional force sensor based on near-singular characteristics

IF 2.7 3区工程技术 Q1 ENGINEERING, MULTIDISCIPLINARY

Measurement Science and Technology Pub Date : 2024-01-10 DOI:10.1088/1361-6501/ad1d31

Dajun Cai, Jiantao Yao, Weihua Gao, Hongyu Zhang, Zeyu Li

引用次数: 0

Abstract

The high sensitivity six-dimensional force sensor is the core component of intelligent robot force feedback perception, which is related to the structure of the sensor. This paper proposed a new modeling method to chain the near singular eight-branch Stewart mechanism, which indicates the relationship between structural parameters and sensitivity. The new method gains 16 new configurations by innovating the traditional Stewart institution. Configuration with high sensitivity in Fz, Mx and My directions is selected for further study. The theoretical stiffness model and force mapping model show that the sensitivity of the new structure can be amplified by 4 times in specific degrees of freedom. The results show that the nonlinear error and coupling error are 2.77% and 2.26%, respectively. The proposed method can be widely applied in the field of parallel six-dimensional force sensors.

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基于近星形特征的并行六维力传感器的设计与分析

高灵敏度六维力传感器是智能机器人力反馈感知的核心部件，这与传感器的结构有关。本文提出了一种新的建模方法，将近奇异的八分支斯图尔特机构链化，指出了结构参数与灵敏度之间的关系。新方法通过对传统斯图尔特机构的创新，获得了 16 种新配置。选择 Fz、Mx 和 My 方向灵敏度较高的构型进行进一步研究。理论刚度模型和力映射模型表明，新结构的灵敏度在特定自由度上可以放大 4 倍。结果表明，非线性误差和耦合误差分别为 2.77% 和 2.26%。所提出的方法可广泛应用于并行六维力传感器领域。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Measurement Science and Technology 工程技术-工程：综合

CiteScore

4.30

自引率

16.70%

发文量

656

审稿时长

4.9 months

期刊介绍： Measurement Science and Technology publishes articles on new measurement techniques and associated instrumentation. Papers that describe experiments must represent an advance in measurement science or measurement technique rather than the application of established experimental technique. Bearing in mind the multidisciplinary nature of the journal, authors must provide an introduction to their work that makes clear the novelty, significance, broader relevance of their work in a measurement context and relevance to the readership of Measurement Science and Technology. All submitted articles should contain consideration of the uncertainty, precision and/or accuracy of the measurements presented. Subject coverage includes the theory, practice and application of measurement in physics, chemistry, engineering and the environmental and life sciences from inception to commercial exploitation. Publications in the journal should emphasize the novelty of reported methods, characterize them and demonstrate their performance using examples or applications.