Design of parallel six-axis force sensor measuring range based on time function

LIU Wan-yu; WANG Zhi-jun; TIAN Xue-ke; CUI Jian-guo; LI Zhan-xian

doi:10.13873/J.1000-9787(2016)08-0080-04

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Design of parallel six-axis force sensor measuring range based on time function

更新时间：2025-09-11

- Design of parallel six-axis force sensor measuring range based on time function
- Vol. 35, Issue 8, Pages: 80-83(2016)
- 作者机构：
  
  华北理工大学机械工程学院
- 作者简介：
- 基金信息：
- DOI：10.13873/J.1000-9787(2016)08-0080-04
  CLC： TP212
- Published：2016
- 稿件说明：
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[1]刘琬钰,王志军,田雪珂,崔建国,李占贤.基于时间函数的并联六维力传感器量程设计[J].传感器与微系统,2016,35(08):80-83.

LIU Wan-yu, WANG Zhi-jun, TIAN Xue-ke, et al. Design of parallel six-axis force sensor measuring range based on time function[J]. 2016, 35(8): 80-83.
[1]刘琬钰,王志军,田雪珂,崔建国,李占贤.基于时间函数的并联六维力传感器量程设计[J].传感器与微系统,2016,35(08):80-83. DOI： 10.13873/J.1000-9787(2016)08-0080-04.

LIU Wan-yu, WANG Zhi-jun, TIAN Xue-ke, et al. Design of parallel six-axis force sensor measuring range based on time function[J]. 2016, 35(8): 80-83. DOI： 10.13873/J.1000-9787(2016)08-0080-04.

摘要

针对并联六维力传感器设计与制造过程中面临的解耦计算复杂、量程确定困难、实用性不强等问题

应用螺旋理论

推导了其受六维外力向测量分支反作用力的映射矩阵;基于工程实际

提出并建立了并联六维力传感器测量分支作用反力的时间函数模型;提出了一种在特定工作环境下测量分支量程的确定方法。以Stewart并联结构为例

针对曲面打磨作业

确定了其测量分支的量程

验证了时间函数模型的正确性和可行性。研究内容对提高并联结构六维力传感器的工程应用性有重要的实践价值。

Abstract

Aiming at issues of complex decoupling calculation

difficult to determine range and poor practicability

etc

in process of design and manufacture of parallel six-axis force sensor

mapping matrix from sixdimensional external force in space to measure axial force of branches is deduced with screw theory applied; based on engineering practice

time-function model for measuring axial force of branches by parallel structure six-axis force sensor is proposed and set up; a kind of determination method for measuring range of branches in designated work environment is put forward. Take the Stewart parallel structure for example

aimed at curve polish work

measuring range of branches measuring is determined

then validity and feasibility of time function model are verified. The research contents have important practical value to improve the engineering practicability of parallel structure six-axis force sensor.

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Keywords

references

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