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1、第52卷第18期机械工程学报Vol.52No.182016年9月JOURNALOFMECHANICALENGINEERINGSep.2016DOI：10.3901/JME.2016.18.016新型过约束正交并联六维力传感器测量模型*与静态标定试验1,21,21,21,21,2赵延治牛智焦雷浩曹亚超赵铁石(1.燕山大学河北省并联机器人与机电系统重点实验室秦皇岛066004；2.先进锻压成型技术与科学教育部重点实验室(燕山大学)秦皇岛066004)摘要：面向航空航天领域对重载大吨位多维测力传感器的急需
2、，通过引入冗余测力分支，提出一种适用于重载测力场合的新型过约束正交并联六维力传感器结构，在提高传感器结构刚度和承载能力的同时有效抑制了关节摩擦对多维力传感器测量精度的影响。基于螺旋理论，推导得到了该并联传感器一阶静力影响系数矩阵，建立理想状态下该新型过约束正交并联六维力传感器测量数学模型。考虑各测量分支的初始预紧力与刚度，基于传感器静力平衡方程与补充建立的位移协调方程，推导建立考虑初始预紧力与分支刚度因素下该新型过约束正交并联六维力传感器测量数学模型。在此基础上，设计并研制该新型过约束正交并联六维力
3、传感器样机，搭建传感器加载标定与信号采集及处理试验系统，对新型过约束正交并联六维力传感器进行了加载标定试验。根据试验结果计算了传感器测量误差矩阵，分析得到了传感器测量精度，从而为重载过约束并联六维力传感器的开发与应用提供了参考。关键词：六维力传感器；正交并联；过约束；重载；标定试验中图分类号：TP212MeasurementModelandCalibrationExperimentofNewOver-constrainedandOrthogonalParallelSix-dimensionalFor
4、ceSensor1,21,21,21,21,2ZHAOYanzhiNIUZhiJIAOLeihaoCAOYachaoZHAOTieshi(1.HebeiProvincialKeyLaboratoryofParallelRobotandMechatronicSystem,YanshanUniversity,Qinhuangdao066004;2.KeyLaboratoryofAdvancedForging&StampingTechnologyandScience(YanshanUniversity),
5、MinistryofEducationofChina,Qinhuangdao066004)Abstract：Theheavyloadmulti-dimensionalforce/torquesensorshavebecomemoreneededinthefieldsofaeronauticsandastronautics.Byintroducingredundantloadbranch,asuitableforheavyloadoccasionsofnewover-constrainedandort
6、hogonalparallelsixdimensionalforcesensorstructuresisdesignedanddevelopedtoimprovethesensorstructurestiffnessandbearingcapacity,atthesametimecaneffectivelyrestraintheinfluenceofjointfrictiononthemulti-dimensionalforcesensormeasurementaccuracy.Basedonscr
7、ewtheory,theorderstaticeffectcoefficientmatrixesofthesensorisderived,establishthemathematicalmodelofsensorwhichunderidealconditions.Consideringtheinitialpre-tighteningforceandstiffnessofmeasuringbranch,basedonthestaticequilibriumequationsanddisplacemen
8、tcompatibilityequations,mathematicalmodelforcalibrationisdeduced.Thesix-dimensionalforcesensorwasmanufactured,settheloadcalibrationandsignalacquisitionandprocessingexperimentsystem,onthebasisofthedevelopedprototypeofnewover-constrained、
