Research On 3-&4-Dimension Force/Torque Sensors With Parallel Structure

Parallel robotic mechanisms are ones with the concentrated knowledge and technology . The force sensor is one of the most important sensors applied in robot, so can we say that there isn't any intellelized robot without it. In this article,the performance criteria and type synthesis of the force/torque sensors with parallel mechanical structure , isotropy performance, sensitivity and stiffness performance of the elastomer of the 3-axis force sensor with non-decoupled structure , research on 3-&4-axis sensors with decoupled structure were investigated as follows:1. The perforcemance evaluation criteria for design of robotic mechanisms, such as condition number,decoupled condition,isotropy, payload index and deformation index were presented and derived,which can be used for the analysis and design of the force/torque sensor with parallel mechanical structure.2. The physical model of the solution for the 3-axis force sensor with parallel structure was established; the atlases of the perforcemence evaluation criteria,including the force isotropy,stiffness isotropy ,sensitivity isotropy.3. The principle of the type synthesis for muti-axis force/torque sensors with parallel structure was presented by using screw thery; the 3-,4-,5-and 6-axis force/torque sensors with the parallel structure were propoded;and the static decoupled conditions and isotropic conditions for the 3-.4-.5-and 6-axis force/torque sensors with parallel structures were investigated.4. The design feature of 3-&4-axis force/torque robot sensors based on 3-UPU and 3-UPU&1-UPS architecture is presented. The isotropy index of the sensor and the transformation between force and strain are analyzed,which is useful for the optimal design and application of the sensor.Because the elastic joints are proposed for replacing the real spherical joints,the sensor has dexterous architecture and good technological advantage.lt can be applied to robotic wrist and finger,etc.The theories and result obtained in this article are very useful for the design and development of the 3-&4-axis force/torque sensor with parallel structure.