Hyperstatic analysis of a fully pre-stressed six-axis force/torque sensor

This study proposes a fully pre-stressed dual-layer six-axis force/torque sensor based on a modified Stewart platform architecture, and discusses the hyperstatic analysis of the sensor. First of all, the number of measuring limbs is determined and the structure characteristics are introduced. Force distribution analysis of the sensor is conducted based on the mathematical model and force mapping matrix. Secondly, the forces on the measuring limbs are decomposed into particular solution (reacting force) and homogeneous solution (pre-tightening force). The stiffness weighted norm and weighted Moore-Penrose inverse of measuring limbs are defined, and their physical meanings are revealed. Then, a linear transformation method to determine the pre-tightening force is presented in order to ensure that the limbs be compressed. Finally, the numerical example and experimental result are performed, which demonstrate the correctness of the theoretical analysis. The results of the paper are useful for the further research and application of the fully pre-stressed six-axis force/torque sensor. (C) 2012 Elsevier Ltd. All rights reserved.

本研究提出了一种基于改进的斯图尔特平台结构的全预应力双层六轴力/力矩传感器，并讨论了该传感器的超静定分析。首先，确定了测量支臂的数量并介绍了结构特征。基于数学模型和力映射矩阵对传感器进行了力分布分析。其次，将测量支臂上的力分解为特解（反作用力）和齐次解（预紧力）。定义了测量支臂的刚度加权范数和加权摩尔 - 彭罗斯逆，并揭示了它们的物理意义。然后，为了确保支臂受压，提出了一种确定预紧力的线性变换方法。最后，进行了数值算例和实验结果验证，证明了理论分析的正确性。本文的研究结果对全预应力六轴力/力矩传感器的进一步研究和应用具有参考价值。© 2012爱思唯尔有限公司。保留所有权利。