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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.
In order to meet the high precision, high stiffness and large load bearing performance requirements of 6-D force sensors for industrial robots, a local decoupling design method is proposed to optimize the accuracy and stiffness of heavy-duty Stewart 6-D force sensors. , And get the optimal parameters through the optimization of structural parameters. Secondly, the influence of coupling factors on the output characteristics of each branch of the sensor was analyzed by combining the experimental data of ball joint decoupling prototype and non-decoupling prototype. Thirdly, Decoupled design and verified by finite element simulation.Finally, the prototype experimental results show that compared with the traditional Stewart 6-dimensional force sensor, locally decoupled heavy-duty Stewart 6-dimensional force sensor also retains a higher test accuracy In addition, the stiffness has also been significantly improved to meet the design needs.