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Optimal Design of the Isotropy Performance of a Six-dimensional Force Sensor Based on a Generalized Gough-Stewart Structure Lying on a Pair of Circular Hyperboloids
Received date: 2013-01-17
Revised date: 2013-03-12
Online published: 2013-03-19
Supported by
National Natural Science Foundation of China (51105090)
For a six-dimensional force sensor, a key issue in its structural design is to realize low coupling and high precision. A standard Gough-Stewart structure based six-dimensional force sensor is able to achieve the best force isotropy with a value of 0.707, and its intrinsic isotropy performance directly affects the measuring accuracy of a sensor. In this paper, a generalized Gough-Stewart structure is used to design a six-dimensional force sensor. The concept of a pair of circular hyperboloids is introduced to define a generalized Gough-Stewart structure with minimal and independent description parameters, and to achieve the optimal design of a six-dimensional force sensor with isotropy. The optimal design routine is built by deriving the closed-form and analytic formulation. Full force isotropy is proven accessible. An performed routine is proposed to design the Gough-Stewart structure with force isotropy for a six-dimensional force sensor, which could meet the position requirement of the force measure point. The research shows that the proposed routine is a novel method to generate a class of six-dimensional force sensors with best isotropy based on generalized Gough-Stewart structures, and also is a new synthesis method of parallel mechanisms.
TONG Zhizhong , JIANG Hongzhou , HE Jingfeng , ZHANG Hui . Optimal Design of the Isotropy Performance of a Six-dimensional Force Sensor Based on a Generalized Gough-Stewart Structure Lying on a Pair of Circular Hyperboloids[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2013 , 34(11) : 2607 -2615 . DOI: 10.7527/S1000-6893.2013.0165
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