Basic Theoretics And System Development On Wide Range Parallel Six-Component Force Sensor With Flexible Joints

The six-component force/torque sensor can measure the force and moment information together in three-dimension coordinate space. Recently, the wide-range six-component force/torque sensor becomes the urgent need high-tech product, which can be used in thrust testing of rocket engines, flight testing of airplane, testing of spacecraft docking simulation and wind tunnel. In order to overcome obstacle of traditional joints'friction to precision of wide range six-component force sensor, this paper presents the relative systematic research on the wide range parallel six-component force sensor with flexible joints. The main research contents are as follows:(1)Based on the screw theory, the statics force of the Stewart six-component force sensor is analyzed, and the static mapping matrices expression of the Stewart platform six-component force sensor is derived. The selection principle of the task-oriented six-component force sensor base coordinate system is discussed.(2)Based on the definition of six-component force sensor's performance evaluation indices and with the theory of the space physical model, the performance indices atlases of sensor are plotted. The law of the indices following the changing of force sensor structure parameters is summarized. With the built optimization objective function, six-component force sensor is optimized design, and sensor structure design parameters with integration choiceness performance are obtained.(3)Based on influence coefficient method and principle of virtual work, continuous stiffness nonlinear mapping general model of spatial parallel mechanism is presented. Combining Rayleigh quotient of the continuous stiffness matrix, the performance index k used to estimate the spacial parallel mechanism continuous stiffness is defined. The stiffness performance of the six-component force sensor with flexible joints is analyzed, and the directional stiffness characteristic is discussed.(4)Based on the adjoint representation on lie group and lie algebra SE(3)/se(3), the linear-bilinear formulation of six degree-of-freedom parallel mechanisms is deduced, and the dynamic functional expressions of six degree-of-freedom parallel mechanisms are developed.(5)The flexible joints are introduced into the wide-range six-component force sensor structure design. The structure of sensor parts are designed, and the materials are selected. Force and mode of the whole sensor structure scheme are analyzed. The prototype model of the wide-range six-component force sensor with flexible joints is designed and developped.(6)The machine structure and the hydraulic power unit of wide range six-component force sensor calibration device are designed, and the big tonnage six-component force loading device with hydraulic system is developped. The signal acquisition and processing hardware system of six-component force sensor is built, and the calibration and measure software is developped. The calibration system of wide range six-component force sensor with flexible joints is developped.It lays a solid foundation for static and dynamic calibration experiment research of wide range six-component force sensor with flexible joints, and has important guidance significance for development of sizable six-component force sensor...