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应用科学学报 ›› 2001, Vol. 19 ›› Issue (1): 57-61.

• 论文 • 上一篇    下一篇

一种高性能六轴腕力传感器弹性体结构设计

刘正士1, 陆益民1, 陈晓东1, 王国泰2, 葛运建2   

  1. 1. 合肥工业大学机械工程学院, 安徽合肥 230009;
    2. 中国科学院合肥智能机械研究所, 安徽合肥 230031
  • 收稿日期:1999-09-18 修回日期:2000-05-21 出版日期:2001-03-31 发布日期:2001-03-31
  • 作者简介:刘正士(1947-),男,安徽合肥人,教授,博导.
  • 基金资助:
    国家自然科学基金(59675085);863航天领域空间机器人专题(863-2-5-2-6)资助项目

Structural Design for the Elastic Body of a High Performance Six-axis Wrist Force Sensor

LIU Zheng-shi1, LU Yi-min1, CHEN Xiao-dong1, WANG Guo-tai2, GE Yun-jian2   

  1. 1. College of Mechanical Engineering, Hef ei University of Technology, Hefei 230009, China;
    2. Hefei Institute of Intelligent Instrument, Academia Sinica, Hefei 230031, China
  • Received:1999-09-18 Revised:2000-05-21 Online:2001-03-31 Published:2001-03-31

PDF

152

被引次数

42

摘要： 建立了一种空间机器人上使用的六轴腕力传感器弹性体静、动特性的有限元分析模型,分析了该传感器的弹性体在各种工况下的应力分布以及固有振动的频率和振型.应用正交试验设计全面分析结构主要参数对传感器的静、动特性的影响.用逐步回归分析方法对数值计算结果进行回归,获得了弹性体性能和其结构尺寸的回归方程,并进行了结构优化设计.

关键词: 有限元分析, 正交试验设计, 优化设计, 腕力传感器

Abstract: A model of static and dynamic characteristics of the elastic body of a wrist force sensor used in space robot is built with finite element method. The stress distribution pattern in various load cases, natural frequencies and vibration shapes of the elastic body are analyzed. The influence of main structure parameters on static and dynamic characteristics is investigated comprehensively by using orthogonal test design. The regression equations between the structure parameters and performances of the sensor are obtained by using step regression analysis on numerical results. And the optimization design of elastic body for the wrist force sensor has been carried out.

Key words: wrist force sensor, optimization design, finite element analysis, orthogonal test design

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