并联结构六维力传感器性能分析与优化设计

基于螺旋理论和空间模型理论绘制了Stewart平台型六维力传感器的性能图谱,总结了结构参数对传感器各性能指标的影响规律;在此基础上对大型Stewart平台六维力传感器的结构进行了非线性单目标、多目标优化设计,为具有普通球形铰链大型Stewart平台六维力传感器的设计和优化提供了依据。

To improve the performance of parallel 6-axis force sensor with Stewart platform,the paper plotted the indices atlases based on the screw theory and theory of physical model of the solution space,and summaried the law how structural parameters affect the indices.Then,sizable parallel 6- axis force sensor's structural parameters were optimized in nonlinear single objective and multi-objec- tive goal respectively,in order to obtain better performance than that of the initial ones.So,the pow- erful basis and method are raised for design and optimization of sizable parallel Stewart platform 6- axis force sensor with general spherical joints.

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