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Dynamic analysis of double-layer and pre-stressed multi-limb six-axis force sensor

《高技术通讯:英文版》2019年 第2期 | 王志军 He Jing Cui Bingyan Li Zhanxian   College of Mechanical Engineering North China University of Science and Technology Tangshan 063210 P.R.China Tangshan Polytechnic College Tangshan 063299 P.R.China Hebei Province Research Institute of Industrial Robot Industry Technology Tangshan 063210 P.R.China
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摘 要:In order to adapt to the specific task, the six-axis dynamic contact force between end-effectors of intelligent robots and working condition needs to be perceived. Therefore, the dynamic property of six-axis force sensor which is installed on the end-effectors of intelligent robots will have influence on the veracity of detection and judgment to working environment contact force by intelligent robots directly. In this paper, dynamic analysis to double-layer and pre-stressed multi-limb six-axis force sensor is conducted. First, the structure of the sensor is introduced, and the limb number is confirmed by introducing the related definitions of convex analysis. Then, based on vibration of multiple-degree-of-freedom system, a mechanical vibration simplified model of double-layer and pre-stressed multiple limb six-axis force sensor is set up. After that, movement differential equations of sensor and the response of analytical expression are deduced, and the movement differential equations is solved. Finally, taking the double-layer and pre-stressed seven limb six-axis force sensor as an example, numerical calculation and simulation of deriving result is conducted, which verify the correctness and feasibility of the theoretical analysis.
【分 类】【自然科学总论】
【关键词】 six-axis force SENSOR multi-limb pre-stressed mechanical vibration dynamic analysis
【出 处】 《高技术通讯:英文版》2019年 第2期 189-196页 共8页
【收 录】 中文科技期刊数据库