CAJ | 학술논문

研究了一种新型的三腿六维力传感器的测力性能，基于3-RPS（转动副-移动副-球副）并联机构研制传感器样机，建立了该样机的静力模型，得到了施加在传感器上的外力与传感器本身6个单维力传感器的映射关系；对新型传感器进行了静态标定实验，根据实验结果分析传感器的测力性能，得到三腿六维力传感器的测力性能评价指标，为该传感器的优化及应用提供了参考依据和基础。
연구료일충신형적삼퇴륙유력전감기적측력성능，기우3-RPS（전동부-이동부-구부）병련궤구연제전감기양궤，건립료해양궤적정력모형，득도료시가재전감기상적외력여전감기본신6개단유력전감기적영사관계；대신형전감기진행료정태표정실험，근거실험결과분석전감기적측력성능，득도삼퇴륙유력전감기적측력성능평개지표，위해전감기적우화급응용제공료삼고의거화기출。
A novel prototype of parallel sensor with three rigid-compliment hybrid limb is built. Its measuring performances are analyzed. The statics formula of the parallel sensor with three rigid-compliment hybrid limb is established based on statics formula of the 3-RPS parallel manipulator. Its measuring performances such as isotropy, linearity, sensitivity, stiffness are analyzed. The experiment statics calibration is conducted. Finally, the analytical solutions of the statics model of the developed sensor are obtained and verified. The theoretical solutions are verified by experiments.