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发表时间：2022-10-04

发表刊物：大连理工大学学报

期号：4

页面范围：522-527

ISSN号：1000-8608

摘要：To solve the difficult problem of measuring the six-axis heavy force, a method of parallel connection is presented, and the concrete implementing scheme is also established. Firstly, the Stewart structure is connected to the arm of heavy equipment in parallel, as a result, partial load of six-axis heavy force is shared on the Stewart structure. Secondly, mechanics decoupling method is used to get the six-axis force. Finally, simulation analysis of the six-axis heavy force sensor is conducted, and the effect of the important parameters on the ability of load sharing is analyzed. Results show that the ability of load sharing is improved with the increment of the radius of load sharing beam and the reduction of the thickness of the upper platform, which presents theoretical basis for the design of this kind of sensor. Furthermore, the rationality and validity of this method are verified.

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