Research On Micro-Force Sensor Based On Parallel Micro-manipulator

The research comes from the project which is mainly about modern testing and the control of quality of manufacturing. As development of Force Sensor, a sensor which can measure multidimensional force is becoming an important trend. The multidimensional force sensor of parallel structure of robot is gradually become the focus of research because of its merit. For example: steady structure, low require of environment, measuring any complex load. In this paper multidimensional forcesensor based on the 3-RRR machine is designed. The primary content as following:First, domestic and overseas actualities and developing trend of multidimensional force sensor based on parallel structure is introduced .Especially, the robot parallel structure is expatiated.Second, the 3-RRR parallel structure of parallel micro-manipulator is analyzed. Based on the requirement of actual measuring, the sense organ and improving the branched chain is ameliorated.Third, a mechanics model is constructed according to the sense organ structure. The Jacobian Matrix which is the most important matrix on parallel structure is analyzed and deduced. The relationship among key dimension is worked out through isotropy parameters. After analyzing the final structure of sense organ is determined.Finally, both branched chain and the whole sense organ are analyzed. Experiment project is put forward and measurement experiment is accomplished.At the present time, domestic research about three dimensional force sensor on parallel structure is lack, the conclusion of this paper will be beneficial to the design of fewness degree parallel structure and force/torque sensor.