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

The Accuracy and Stiffness Comprehensive Optimal Design of the Heavy Load Stewart Six-axis Force Sensor Based on Partial Decoupling Method

  • 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.

     

    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.

     

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