کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
7154308 | 1462498 | 2016 | 18 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Algorithm and experiments of six-dimensional force/torque dynamic measurements based on a Stewart platform
ترجمه فارسی عنوان
الگوریتم و آزمایشات اندازه گیری پویایی نیروی / گشتاور شش بعدی بر اساس یک پلت فرم استوارت
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مهندسی هوافضا
چکیده انگلیسی
Stewart platform (SP) is a promising choice for large component alignment, and interactive force measurements are a novel and significant approach for high-precision assemblies. The designed position and orientation (P&O) adjusting platform, based on an SP for force/torque-driven (F/T-driven) alignment, can dynamically measure interactive forces. This paper presents an analytical algorithm of measuring six-dimensional F/T based on the screw theory for accurate determination of external forces during alignment. Dynamic gravity deviations were taken into consideration and a compensation model was developed. The P&O number was optimized as well. Given the specific appearance of repeated six-dimensional F/T measurements, an approximate cone shape was used for spatial precision analysis. The magnitudes and directions of measured F/Ts can be evaluated by a set of standards, in terms of accuracy and repeatability. Experiments were also performed using a known applied load, and the proposed analytical algorithm was able to accurately predict the F/T. A comparison between precision analysis experiments with or without assembly fixtures was performed. Experimental results show that the measurement accuracy varies under different P&O sets and higher loads lead to poorer accuracy of dynamic gravity compensation. In addition, the preferable operation range has been discussed for high-precision assemblies with smaller deviations.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Chinese Journal of Aeronautics - Volume 29, Issue 6, December 2016, Pages 1840-1851
Journal: Chinese Journal of Aeronautics - Volume 29, Issue 6, December 2016, Pages 1840-1851
نویسندگان
Wen Ke, Du Fuzhou, Zhang Xianzhi,