Design and analysis of a novel isotropic six-component force/torque sensor

被引:60
|
作者
Jin, ZL [1 ]
Gao, F
Zhang, XH
机构
[1] Yanshan Univ, Sch Mech Engn, Qinhuangdao 066004, Peoples R China
[2] Hebei Univ Technol, Robot Res Ctr, Tianjin 300130, Peoples R China
关键词
six-component force/torque sensor; stiffness; isotropy;
D O I
10.1016/S0924-4247(03)00299-1
中图分类号
TM [电工技术]; TN [电子技术、通信技术];
学科分类号
0808 ; 0809 ;
摘要
In the design of robot's force/torque sensors, the innovation in the structure design is one of the most important activities. The unique design for a novel parallel architecture of robot's six-component force/torque sensor based on the Stewart platform is presented. The translational stiffness and the torsional stiffness of the sensor are defined and analyzed, which can provide the theoretical background for the optimal design and application of the sensor. The results show that the translational stiffness and the torsional stiffness of the sensor can be intuitively indicated by two spheres, respectively, so the sensor is characterized by the stiffness isotropy. (C) 2003 Elsevier B.V. All rights reserved.
引用
收藏
页码:17 / 20
页数:4
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