Performance Analysis And Application Of Multi-Axis Parallel F/T Sensors

The main research in this thesis include performance indices definition of the F/T sensors, performance analysis of the 3-Axis and 5-Axis F/T sensor, static calibration of Multi-Axis F/T sensor and the application of 6-Axis F/T sensor.First, the concept of physical model of the solution space, Jacobian and force condition are presented. The isotropy indices of 3-Axis F/T sensor of the platform structure and discoupling structure are studied, and the law of the indices following the changing of structure parameters is summarized.Based on the analysis of the 3-Aixs F/T sensor, the force isotropy indices of the 5-Axis sensor with 4-SPS&1-UPU structure are studied. The physical model of 5-Axis sensor with 4-SPS&1-UPU structure are constructed using the theory of physical model of the solution space, then the indices atlases are plotted.The sensitivity and stiffness isotropy indices of the 5-Axis sensor with 4SPS&1UPU structure are studied with the application of the theory of physical model of the solution space are studied, and the indices sensitivity and stiffness atlases are plotted. The law of sensitivity and stiffness the indices following the changing of structure parameters is summarized. Of the 5-Axis F/T sensors with discoupling 4-SPS&1-UPU structure, the force isotropy, sensitivity, stiffness are also analyzed. When building up the Jacobian matrix the screw theory is applied, which offers a new way in the analysis of the F/T sensor.In the end, the methods of the static calibration and the rule of transforming forces to movement velocities are studied. The thesis helps to develop virtual body control system test the sensor's control functions. The 6-Axis F/T sensor is also proved to be successful in the micromanipulator robot system.