中文

Journal of Applied Sciences ›› 2001, Vol. 19 ›› Issue (1): 57-61.

• Articles • Previous Articles     Next Articles

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

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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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