CAJ | 학술논문

各向同性是反映六维力传感器结构性能优劣的重要指标,各向同性性能分析是Stewatt结构六维力传感器结构设计中的关键性问题.为了获得最优的各向同性性能,应用螺旋理论建立stewart结构六维力传感器的静态数学模型,系统研究传感器的各向同性性能指标.利用数学解析的方法,对传感器的正向和逆向各向同性进行分析,推导出同时满足正向力和力矩各向同性时结构参数之间的关系表达式,证明了该类传感器不能同时满足逆向力和力矩各向同性,并得到了各向同性度性能指标之间存在的制约关系.权衡各向同性的四个性能指标,通过求解综合性能目标函数的极值,得到了综合性能指标的最优值,并推导出综合性能指标最优时结构参数之间所满足的关系表达式.研究内容为Stewart结构六维力传感器的结构性能优劣评价及结构优化设计奠定了基础.
각향동성시반영륙유력전감기결구성능우렬적중요지표,각향동성성능분석시Stewatt결구륙유력전감기결구설계중적관건성문제.위료획득최우적각향동성성능,응용라선이론건립stewart결구륙유력전감기적정태수학모형,계통연구전감기적각향동성성능지표.이용수학해석적방법,대전감기적정향화역향각향동성진행분석,추도출동시만족정향력화력구각향동성시결구삼수지간적관계표체식,증명료해류전감기불능동시만족역향력화력구각향동성,병득도료각향동성도성능지표지간존재적제약관계.권형각향동성적사개성능지표,통과구해종합성능목표함수적겁치,득도료종합성능지표적최우치,병추도출종합성능지표최우시결구삼수지간소만족적관계표체식.연구내용위Stewart결구륙유력전감기적결구성능우렬평개급결구우화설계전정료기출.
Isotropy is an important index of performance evaluation for a six-dimensional force sensor, and the isotropic performance analysis is a key problem in the structural design of Stewart platform-based force sensor. In order to achieve the best isotropy performance, the static mathematical model of Stewart platform-based force sensor is built by using screw theory, and the isotropy indices of the sensor are studied systematically. By using the mathmatical analysis method, the performance analysis of the forward and backward isotropy is presented. The analytic expressions of the key structural parameters are derived when both forward force and torque isotropy are satisfied. It is proved to be impossible to realize the backward force and torque isotropy simultaneously, and the restrictive relationships of the four isotropy indices are obtained. By compromising all the four isotropy indices and solving the extreme of the comprehensive performance objective function, the best comprehensive isotropy index of Stewart platform-based force sensor is achieved and the corresponding analytic expressions of the key structural parameters are obtained. The results of the theoretical deduction are important to the performance evaluation and structure design of the six-dimensional force sensor.