基于局部去耦的重载Stewart 6维力传感器精度与刚度的综合优化设计

doi:10.13973/j.cnki.robot.2017.0838

摘要
图/表
参考文献
相关文章 (15)

全文: PDF (3341 KB) HTML ( ) 输出: BibTeX \| EndNote (RIS)
引用本文:
高波, 王晨, 屈文轩, 满龙. 基于局部去耦的重载Stewart 6维力传感器精度与刚度的综合优化设计[J]. 机器人, 2017, 39(6): 838-843.DOI: 10.13973/j.cnki.robot.2017.0838. GAO Bo, WANG Chen, QU Wenxuan, MAN Long. The Accuracy and Stiffness Comprehensive Optimal Design of the Heavy Load Stewart Six-axis Force Sensor Based on Partial Decoupling Method. ROBOT, 2017, 39(6): 838-843. DOI: 10.13973/j.cnki.robot.2017.0838.

摘要为了满足工业机器人用6维力传感器高精度、高刚度、大承载的性能要求，提出了一种局部去耦的设计方法，对重载Stewart 6维力传感器进行兼顾精度与刚度的综合优化.首先，通过结构参数优化，获取最优参数；其次，结合球铰去耦样机和无去耦措施样机的实验数据，分析得出耦合因素对传感器各支路输出特性的影响；再次，对传感器进行局部去耦设计，并通过有限元仿真加以验证.最后，样机实验结果显示相较于传统结构Stewart 6维力传感器，局部去耦的重载Stewart 6维力传感器除同样保留了较高的测试精度之外，在刚度方面也有大幅提升，可满足设计需求.

	服务

	把本文推荐给朋友
	加入我的书架
	加入引用管理器
	E-mail Alert
	RSS
	作者相关文章
	高波
	王晨
	屈文轩
	满龙

关键词 ： Stewart, 6维力传感器, 局部去耦, 刚度优化, 精度优化

Abstract：In order to satisfy the high precision, high stiffness and high load bearing requirements of the six-axis force sensor for industrial robots, a partial decoupling design idea is presented. A heavy load Stewart six-axis force sensor is synthetically optimized based on both the accuracy and the stiffness. Firstly, a set of optimal parameters are obtained by the structural parameter optimization. Secondly, the influence of coupling factors on the output characteristics of each branch is analyzed, combining with the experimental data of the spherical hinge prototype and the prototype without decoupling. Thirdly, the sensor is designed by partial decoupling and verified by finite element simulation. Finally, the prototype experiment results demonstrate that the designed partial decoupled six-axis force sensor shows a significantly raised stiffness besides a high precision compared with the traditional Stewart six-axis force sensor, which satisfies the design requirements.

Key words： Stewart six-axis force sensor partial decoupling stiffness optimization accuracy optimization

收稿日期: 2017-01-20 录用日期: 2017-07-07

TP212.1

基金资助:陕西省科技统筹创新工程计划（604287478005）

通讯作者: 高波,gaobo8868@163.com E-mail: gaobo8868@163.com

作者简介: 高波(1985-),男,硕士,工程师.研究领域:并联机器人,多维力传感技术工程应用,结构优化技术
王晨(1988-),男,硕士,工程师.研究领域:多维力传感技术理论及应用,结构优化技术.

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.2017.0838 或 https://robot.sia.cn/CN/Y2017/V39/I6/838

[1] 胡建元,黄心汉.机器人力传感器研究概况[J].传感器技术,1993(4):36-37.Hu J Y, Huang X H. The study situation about force sensors of robot[J]. Journal of Transducer Technology, 1993(4):36-37.
[2] Bayon E, Stubbe J R. Six-axis force sensor evaluation and a new type of optimal frame truss design for robotic application[J]. Journal of Robotic Systems, 1989, 6(2):191-208.
[3] 葛运建,张建军,戈瑜,等.无所不在的传感器与机器人感知[J].自动化学报,2002,28(12):125-133. Ge Y J, Zhang J J, Ge Y, et al. Ubiquitous sensing and robot perception[J]. Acta Automatic Sinica, 2002, 28(12):125-133.
[4] 王嘉力,姜力,刘宏.一种用于微型6维力传感器的集成式应变计设计[J].机器人,2007,29(4):403-406.Wang J L, Jiang L, Liu H. Development of an integrate strain gauge for a micro six-axis force sensor[J]. Robot, 2007, 29(4):403-406.
[5] Ma J Q, Song A G. Development of a novel two-axis force sensor for Chinese massage robot[C]//Advances in Precision Instrumentation and Measurement, vol.103. Stafa-Zurich, Switzerland:Trans Tech Publications Ltd., 2012:299-304.
[6] Dwarakanath T A, Dasgupta B, Mruthyunjaya T S. Design and development of a Stewart platform based force-torque sensor[J]. Mechatronics, 2001, 11(7):793-809.
[7] Kang C G. Closed form force sensing of a 6-axis force transducer based on the Stewart platform[J]. Sensors and Actuators A:Physical, 2001, 90(1/2):31-37.
[8] 姚建涛,候雨雷,毛海峡,等.Stewart结构6维力传感器各向同性的解析分析与优化设计[J].机械工程学报,2009,45(12):22-27.Yao J T, Hou Y L, Mao H X, et al. Analytic analysis and optimal design of isotropy performance of six-dimensional force sensor based on Stewart platform[J]. Chinese Journal of Mechanical Engineering, 2009, 45(12):22-27.
[9] 王纪武,陈恳,李嘉.典型柔性铰链的结构参数对其刚度性能影响的研究[J].机器人,2001,23(1):51-57.Wang J W, Chen K, Li J. Study of geometrical parameters of typical flexible hinges' influence on its rigidity[J]. Robot, 2001, 23(1):51-57.
[10] 吕帮俊,朱石坚,彭利坤,等.Stewart机构刚度映射建模与仿真[J].振动与冲击,2011,30(4):178-181.Lü B J, Zhu S J, Peng L K, et al. Stiffness mapping modeling and simulation for Stewart mechanism[J]. Journal of Vibration and Shock, 2011, 30(4):178-181.
[11] 胡波,路懿.基于广义力的少自由度并联机构的静刚度统一模型[J].中国科技论文在线,2009,4(8):592-598.Hu B, Lu Y. Unified stiffness model for limited-DOF parallel manipulators based on generalized forces[J]. Sciencepaper Online, 2009, 4(8):592-598.