并联预紧式六维力传感器动态力响应分析

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王志军, 姚建涛, 王航, 侯雨雷, 赵永生. 并联预紧式六维力传感器动态力响应分析[J]. 机器人, 2011, 33(4): 455-460.. WANG Zhijun, YAO Jiantao, WANG Hang, HOU Yulei, ZHAO Yongsheng. Dynamic Force Response Analysis on Parallel Pre-stressed Six-axis Force Sensor. ROBOT, 2011, 33(4): 455-460..

摘要提出一种并联预紧式双层结构六维力传感器，介绍了该传感器的结构特点和优点．并基于多自由度系统振动力学对该六维力传感器进行动态力响应分析．首先结合该传感器的结构特点对其进行静力学分析，在此基础上建立了传感器系统的振动力学模型；然后推导出系统的运动微分方程，通过求解运动微分方程，得到了系统在动态力作用下广义坐标的响应以及得分支受力响应；最后将推导结果进行数值计算和仿真验证，表明了理论分析的正确性和可行性．

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	王志军
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	赵永生

关键词 ：六维力传感器, 并联结构, 预紧, 动态力响应

Abstract：A parallel pre-stressed six-axis force sensor with double-layer structure is proposed,and the structure character and advantages of the sensor are introduced.The dynamic force response of the six-axis force sensor is analyzed based on multi-degree-of-freedom system vibration mechanics.First,static force analysis on the sensor is performed considering the structure character.The vibration mechanics model of sensor system is built,and the motion differential equation of the vibration system is deduced.Then,the generalized coordinates response and the measuring limbs' force response are obtained by solving the motion differential equation when the system is subjected to dynamic force.Further,the numerical example and simulation result are presented,which demonstrate the correctness and feasibility of the theoretical analysis.

Key words： six-axis force sensor parallel structure pre-stressed dynamic force response

收稿日期: 2010-09-19 录用日期: 2010-12-27

:	TP212.1
	TH113.1

基金资助:国家自然科学基金资助项目（50975245）；河北省自然科学基金资助项目（E2011203184）；江苏省数字化制造技术重点建设实验室开放课题（HGDML-0911）；秦皇岛市科学技术研究与发展计划资助项目（201001A111）

通讯作者: 赵永生 E-mail: yszhao@ysu.edu.cn

作者简介: 王志军（1983- ），男，博士生．研究领域：并联机器人技术，六维力传感器技术．
姚建涛（1980- ），男，博士，讲师．研究领域：并联机器人，多维力传感器理论及应用．
王航（1981- ），女，博士生．研究领域：六维力传感器技术，多维力传感器应用技术．

链接本文:

https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2011/V33/I4/455

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