一种新型六维腕力传感器的设计研究（可复制）.pdfVIP

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 elastic components on the six elastic connecting rods. Gluing Strain gauges on the distortion units of the additional elastic components, 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 elastic component has been analyzed and the analytic relationship between strain enlargement factor and the structure parameters of the additional elastic compon