基于结构变形的大型并联六维力传感器精度研究

为了研究结构变形对大型六维力传感器精度的影响,基于螺旋理论及影响系数方法,并借助位姿解建立了考虑结构整体变形条件下Stewart平台六维力传感器测量误差模型,推导出并联六维力传感器测量的I,II类误差表达式,分析了在不同外载下,六维力传感器Ⅰ,Ⅱ类误差,总结了结构变形和平台自重对传感器测量精度的影响规律,为具有普通球形铰链大型Stewart平台六维力传感器标定方案的选择和精度的改善提供了理论基础。

For the sake of researching the influence of structural deformation on large-scaled 6-dimensioned force sensor,the measurement error model of Stewart platform 6-dimensioned force sensor under the condition of considering the deformation of the whole structure was established by dint of posture solution based on spiral theory and affecting coefficients method.The types I,II error expressions of measurement of parallel 6-dimensioned force sensor were derived.The types I,II error of the 6-dimensioned force sensor were analyzed under different outer loads,and the influencing rule of structural deformation and deadweight of platform on the measuring precision of sensor was summarized,thus provided theoretical basis for the selection of calibration scheme and the improvement of precision of large Stewart platform 6-dimensioned force sensors with common global hinges.

国家自然科学基金资助项目(50375134);;中国科学院沈阳自动化所机器人开放实验室资助项目