کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
799783 1467772 2013 13 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Statics and stiffness analysis of a novel six-component force/torque sensor with 3-RPPS compliant parallel structure
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی صنعتی و تولید
پیش نمایش صفحه اول مقاله
Statics and stiffness analysis of a novel six-component force/torque sensor with 3-RPPS compliant parallel structure
چکیده انگلیسی

A statics and stiffness model of a novel six-component force/torque sensor with a 3-RPPS compliant parallel structure is established and analyzed based on a 3-RPS parallel mechanism. First, the basic principle of the developed sensor is explained and a static model of the 3-RPS parallel mechanism is established. Second, a stiffness model of the RPPS-type compliant limb is derived, and the stiffness of the single standard force sensor is determined by measuring the forces of the standard force sensor under given workloads. Third, the statics model among the forces of the standard force sensors and the external load are established, and the forces of the six standard force sensors are measured under given external load. Fourth, a finite element (FE) model of the proposed sensor is established, the forces applied on standard sensor are solved. Finally, the analytical solutions of the stiffness model and statics model of the developed sensor are obtained and verified by its FE model solutions and experimental solutions.


► Establish statics model of novel 3-RPPS type parallel compliant structure sensor
► Derive a stiffness model of the RPPS-type compliant limb
► Establish statics model among forces of standard force sensors and external load
► Construct a FE model of proposed sensor and verify its analytic solution
► Measure the forces of six standard force sensors and verify analytic solution

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechanism and Machine Theory - Volume 62, April 2013, Pages 99–111
نویسندگان
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