文档介绍：一种新型六维腕力传感器的设计研究
ABSTRACT
A new parallel six-axis wrist force sensor is proposed in this dissertation, it can
solve the problem which the contravention between the rigidity and sensitivity among
the traditional force sensor. It uses parallel form and achieves the goal of magnifying
the strain of the elastic connecting rod through fixing additional ponents
on the six elastic connecting rods. Gluing Strain gauges on the distortion units of the
additional ponents, we can obtain the force on the rods through measuring
the strain of the distortion units, it can largely enhance the examination sensitivity.
That can guarantee the sensor has very great rigidity because it need not fix distortion
units in series on the elastic rods in order to enhance the sensitivity of the sensor.
The theory of force exchange of the parallel force sensor is analyzed in the
dissertation in first, it provides the basic theory basis for designing the parallel force
sensor. Then directly infers six dimensions force Jacobian matrix through using the
spatial force transfer relations of the parallel sensor and obtains concrete structure
parameter expression of the Jacobian matrix. It has confirmed the theoretical analysis
is correct through the ADAMS simulation.
The analytic relationship between Jacobian matrix condition number and the
structure parameters of the sensor has been educed by the least principle of Jacobian
matrix condition number, then designs the basic structure of the sensor according to
the analytic relationship.
The theory of the strain enlargement factor of the additional ponent
has been analyzed and the analytic relationship between strain enlargement factor and
the structure parameters of the additional ponent has been educed. The
factors which affect the strain enlargement factor of the additional ponent
are obtained and it provides theory basis for optimizing the structure of the additional
ponent.
Take the theory of