3-SPR Parallel Decoupled Six-dimensional Force Sensor

The six-component force/torque sensor can measure the force and momentinformation in six dimension coordinate space, recently, has been widely applied in thefields of military,aerospace,engineering, electrical and mechanical. How to perceive thesix-component force/torque quickly and effectively will be an important issue. Thesix-dimensional force sensor structure have a significant impact on the performance, suchas sensitivity, dimensional coupling, stiffness, dynamic performance, isotropicso ,so thestructual design is the key problem of sensor design. The subjects proposed a new type ofthe 3-SPR parallel decoupled six-dimensional force measurement platform, the mainresearch contents are as follows:(1)Designed the solid model of a six-dimensional force sensor, initially worked itsstucture, size and other key parameters.(2)Static analysis of 3-SPR six-dimensional force sensor, derived the equations ofstatics,established the force Jacobian matrix, and summarize the principles established bythe mathematical model.(3)Elastic deformation model to solve the sensor elastic deformation with the FEAsoftware. Comparison of finite element method seeking the elastic deformation and theanalytical method to deformation of the results to determine the sensor entity structure,optimize the key parallel sensor entity.(4)Developed the prototype of the 3-SPR parallel six-dimensional force sensor, andsolving the stiffness matrix of the sensor entity.(5)3-SPR parallel six-dimensional force sensor modal analysis, modal analysis usingthe finite element menthod bodies.In this paper, a 3-SPR parallel institution is used to develop the six-dimensional forcesensor, simple structure, large stiffness, there is great significance to the thorough researchof six-dimensional force sensor.