冗余正交式六维力感知机构性能分析与实验研究*
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中图分类号: TH73文献标识码: A国家标准学科分类代码: 46040

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*基金项目:国家自然科学基金(51675459)、河北省科技计划国际科技合作基地建设专项(19391825D)、河北省自然科学基金京津冀合作专项(E2017203387)、河北省高校百名优秀创新人才支持计划(SLRC2019039)资助


Performance analysis and experiment study of redundant orthogonal sixdimensional force sensing mechanism
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    摘要:

    摘要:基于冗余容错和测量重构的思想,提出了一种具有可重构测量模型的冗余正交式并联六维力感知机构,并进行了相关理论分析及实验研究。利用柔度矩阵理论建立了机构的刚度模型,通过仿真验证了建模方法的正确性。最后,对设计的力感知机构进行了样机研制,搭建了标定实验平台,对样机进行了重构实验。针对不同维度力选择不同测量分支组合的测量模型进行测量,实验结果表明,在五维力和三维力的测量模型重构后,测量精度分别提高了129%和319%。实现了测量模型重构的多维力感知机构面向不同测量任务的多维力测量,为冗余六维力感知机构的研究提供了理论依据及实验基础。

    Abstract:

    Abstract:Based on the idea of redundant fault tolerance and measurement reconstruction, this paper proposes a redundant orthogonal parallel sixdimensional force sensing mechanism with reconfigurable measurement model, and carries out related theoretical analysis and experiment research. The flexibility matrix theory is used to establish the stiffness model of the mechanism, and the correctness of the modeling method is verified through simulation. The prototype of the designed force sensing mechanism was developed, the calibration test bench was built, and the reconfiguration experiments on the measurement model were conducted, in which different measurement branch combination was selected according to different dimensional forces. The experiment results show that after the reconfiguration of the measurement model of fivedimensional force and threedimensional force, the measurement accuracy increases by 129% and 319%, respectively. The multidimensional force sensing mechanism with reconfigurable measurement model realizes the multidimensional force measurement facing to different measurement tasks, which provides theoretical and experiment bases for the study of redundant sixdimensional force sensing mechanism.

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姚建涛,阮豪奇,蔡大军,单俊云,赵永生.冗余正交式六维力感知机构性能分析与实验研究*[J].仪器仪表学报,2020,41(1):162-169

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  • 在线发布日期: 2022-01-11
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