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Indexed by:Journal Papers

Date of Publication:2010-02-15

Journal:Chinese Journal of Scientific Instrument

Included Journals:EI、PKU、ISTIC、CSCD

Volume:31

Issue:2

Page Number:341-346

ISSN No.:0254-3087

Key Words:six-axis heavy force sensor; force isotropy; moment isotropy; atlas analysis

Abstract:Aiming at the phenomenon of characteristic index disequilibrium in the structure design of new six-axis heavy force sensor based on Stewart structure,the relationship between the structure geometric parameters and the performance of the sensor is analyzed.According to the measurement principle of the six-axis heavy force sensor based on Stewart platform,the relationship model between the measurement accuracy and the condition number of the static first order coefficient matrix is established.Through the analysis of static first order coefficient matrix and flexibility matrix of the force and moment,the isotropy performance indices and the sensitivity of the sensor are obtained,the relationship between the isotropy performance indices and the structure parameters of the sensor is revealed as well.Finally,atlas optimization method and GA（genetic algorithm） are adopted to optimize the structure parameters of the new six-axis heavy force sensor.The analysis results will provide a useful reference for the structure design of the new six-axis heavy force sensor.