文章摘要
Wang Zhijun(王志军)* **,Liu Lu* **,Cui Bingyan* **,He Jing***,Li Zhanxian* **.[J].高技术通讯(英文),2021,27(2):184~192
Optimal design and experiment research of an orthogonal-parallel six-axis force/torque sensor
  
DOI:10.3772/j.issn.1006-6748.2021.02.009
中文关键词: 
英文关键词: six-axis force sensor, optimal design, online static calibration, working condition
基金项目:
Author NameAffiliation
Wang Zhijun(王志军)* ** (*College of Mechanical Engineering, North China University of Science and Technology, Tangshan 063210, P.R.China) (**Hebei Province Research Institute of Industrial Robot Industry Technology, Tangshan 063210, P.R.China) (***Tangshan Industrial Vocational Technical College, Tangshan 063020, P.R.China) 
Liu Lu* ** (*College of Mechanical Engineering, North China University of Science and Technology, Tangshan 063210, P.R.China) (**Hebei Province Research Institute of Industrial Robot Industry Technology, Tangshan 063210, P.R.China) (***Tangshan Industrial Vocational Technical College, Tangshan 063020, P.R.China) 
Cui Bingyan* ** (*College of Mechanical Engineering, North China University of Science and Technology, Tangshan 063210, P.R.China) (**Hebei Province Research Institute of Industrial Robot Industry Technology, Tangshan 063210, P.R.China) (***Tangshan Industrial Vocational Technical College, Tangshan 063020, P.R.China) 
He Jing*** (*College of Mechanical Engineering, North China University of Science and Technology, Tangshan 063210, P.R.China) (**Hebei Province Research Institute of Industrial Robot Industry Technology, Tangshan 063210, P.R.China) (***Tangshan Industrial Vocational Technical College, Tangshan 063020, P.R.China) 
Li Zhanxian* ** (*College of Mechanical Engineering, North China University of Science and Technology, Tangshan 063210, P.R.China) (**Hebei Province Research Institute of Industrial Robot Industry Technology, Tangshan 063210, P.R.China) (***Tangshan Industrial Vocational Technical College, Tangshan 063020, P.R.China) 
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中文摘要:
      
英文摘要:
      A novel orthogonal-parallel six-axis force/torque sensor is studied based on a modified Stewart platform architecture, and the optimal design and experiment research of the sensor are discussed. Firstly, the model of orthogonal parallel six-axis force/torque sensor based on improved Stewart platform architecture and its static mathematical model are proposed. Secondly, according to the actual working condition of the sensor, the sensor is optimized and the optimal solution is obtained. Then, the experimental prototype and calibration system is developed. Finally, the superiority of the sensor structure and the effectiveness of the optimization method are verified by calibration experiments. The results of the proposed method are useful for the further research and application of the orthogonal-parallel six-axis force/torque sensor.
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