Stewart结构六维力传感器设计理论与应用研究
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摘要
本文的主要研究内容包括Stewart平台六维力传感器的性能指标定义、坐标系变化对传感器静态特性的影响、六维力传感器的样机设计、传感器的静态标定研究等，并在此基础上开发了力驱动方式的六维鼠标。
由于传感器的许多静态特性反应在其数学模型上，因此为便于深入研究，本文在前人研究的基础上，详细推导了Stewart结构六维力传感器的一阶静力影响系数矩阵、力雅可比矩阵等的解析表达式。分析了当坐标系变化时，传感器静态数学模型和Stewart结构的5个结构参数以及坐标系的6个参数之间的解析关系，为传感器性能指标的深入研究奠定了基础。
对Stewart平台六维力传感器的力和力矩各向同性指标进行了研究，并具体研究了坐标系的变化对该性能指标的影响。为方便传感器的结构优化设计工作，利用空间模型理论绘制了力、力矩各向同性度性能图谱，总结了力各向同性度以及力矩各向同性度随机构参数的变化规律。
定义了六维力传感器的灵敏度和灵敏度各向同性指标，研究了坐标系的变化对两者产生的影响，并绘制了相应的图谱。具体说明了如何有机地结合灵敏度指标和灵敏度各向同性指标优化设计传感器的力敏元件结构。
在综合考虑传感器的力各向同性、灵敏度特性及传感器外型尺寸等多方面因素的情况下，研制了数种六维力传感器样机及信号处理系统，并设计了静态标定系统。
以六维力传感器为核心，开发了力驱动方式的六维鼠标，研究了从六维力信号到被控对象的运动控制信号之间的转换方法。并开发了用于检验六维鼠标控制功能的虚拟6-SPS并联机器人系统，同时成功地将六维鼠标用于微操作机器人控制系统中。
本文的研究成果对机器人六维力传感器及六维鼠标的进一步研究具有重要的理论意义和实际应用价值，对我国机器人的智能化发展具有重要的现实意义。
The main research in this thesis includes performance indices definition of the Stewart platform based 6-axis F/T sensor, influence on sensor's static indices of coordinate system, prototype design of the 6-axis F/T sensors, static calibration and so on. Based on this research, the force-drive mode 6-DOF mouse is developed.
Sensors static performance indices rest with its static mathematical model. Therefore, for convenience of the deep research, based on the person study last, the thesis deduces the one order static force influence coefficient matrix, force Jacobian matrix in detail. It analyzes the analytic relationship between the static mathematical model and the parameters including 5 Stewart platform structure parameters and 6 coordinate system parameters when the coordinate system changing. It lays the foundations for studying sensor's performance indices deeply.
The Stewart platform based 6-axis F/T sensor's force and torque isotropy indices are studied, and the influence on these two indices when coordinate system changing is also studied in the thesis. For convenience of the sensor structure design, the indices atlases are plotted using physical model of the solution space theory. Based on these atlases, the law of the indices following the changing of force sensing element structure parameters is summarized.
It defines the 6-axis F/T sensor's sensitivity and its sensitivity isotropy, and studies the influence on them when the coordinate system changing, and plots their atlases respectively. The thesis analyses how to use the sensitivity index and sensitivity isotropy index to design the sensors structure concretely.
Several types of 6-axis F/T sensor prototypes and signal processing system are developed with considering all the factors, including force isotropy, sensitivity, physical size and so on. The static calibration system is developed also.
Based on the 6-axis F/T sensor, force-drive mode 6-DOF mouse is developed. Especially the methods transforming forces to movement velocities are studied. The thesis develops virtual 6-SPS parallel robot system to test the mouse's control functions. The 6-DOF mouse has been used in micromanipulator robot system successfully.
The theories and results obtained in this thesis are very useful for the deep research of 6-axis F/T sensor and 6-DOF mouse. It is a matter of great significance to promote the development of Robot intelligentizing in our country.
由于传感器的许多静态特性反应在其数学模型上，因此为便于深入研究，本文在前人研究的基础上，详细推导了Stewart结构六维力传感器的一阶静力影响系数矩阵、力雅可比矩阵等的解析表达式。分析了当坐标系变化时，传感器静态数学模型和Stewart结构的5个结构参数以及坐标系的6个参数之间的解析关系，为传感器性能指标的深入研究奠定了基础。
对Stewart平台六维力传感器的力和力矩各向同性指标进行了研究，并具体研究了坐标系的变化对该性能指标的影响。为方便传感器的结构优化设计工作，利用空间模型理论绘制了力、力矩各向同性度性能图谱，总结了力各向同性度以及力矩各向同性度随机构参数的变化规律。
定义了六维力传感器的灵敏度和灵敏度各向同性指标，研究了坐标系的变化对两者产生的影响，并绘制了相应的图谱。具体说明了如何有机地结合灵敏度指标和灵敏度各向同性指标优化设计传感器的力敏元件结构。
在综合考虑传感器的力各向同性、灵敏度特性及传感器外型尺寸等多方面因素的情况下，研制了数种六维力传感器样机及信号处理系统，并设计了静态标定系统。
以六维力传感器为核心，开发了力驱动方式的六维鼠标，研究了从六维力信号到被控对象的运动控制信号之间的转换方法。并开发了用于检验六维鼠标控制功能的虚拟6-SPS并联机器人系统，同时成功地将六维鼠标用于微操作机器人控制系统中。
本文的研究成果对机器人六维力传感器及六维鼠标的进一步研究具有重要的理论意义和实际应用价值，对我国机器人的智能化发展具有重要的现实意义。
The main research in this thesis includes performance indices definition of the Stewart platform based 6-axis F/T sensor, influence on sensor's static indices of coordinate system, prototype design of the 6-axis F/T sensors, static calibration and so on. Based on this research, the force-drive mode 6-DOF mouse is developed.
Sensors static performance indices rest with its static mathematical model. Therefore, for convenience of the deep research, based on the person study last, the thesis deduces the one order static force influence coefficient matrix, force Jacobian matrix in detail. It analyzes the analytic relationship between the static mathematical model and the parameters including 5 Stewart platform structure parameters and 6 coordinate system parameters when the coordinate system changing. It lays the foundations for studying sensor's performance indices deeply.
The Stewart platform based 6-axis F/T sensor's force and torque isotropy indices are studied, and the influence on these two indices when coordinate system changing is also studied in the thesis. For convenience of the sensor structure design, the indices atlases are plotted using physical model of the solution space theory. Based on these atlases, the law of the indices following the changing of force sensing element structure parameters is summarized.
It defines the 6-axis F/T sensor's sensitivity and its sensitivity isotropy, and studies the influence on them when the coordinate system changing, and plots their atlases respectively. The thesis analyses how to use the sensitivity index and sensitivity isotropy index to design the sensors structure concretely.
Several types of 6-axis F/T sensor prototypes and signal processing system are developed with considering all the factors, including force isotropy, sensitivity, physical size and so on. The static calibration system is developed also.
Based on the 6-axis F/T sensor, force-drive mode 6-DOF mouse is developed. Especially the methods transforming forces to movement velocities are studied. The thesis develops virtual 6-SPS parallel robot system to test the mouse's control functions. The 6-DOF mouse has been used in micromanipulator robot system successfully.
The theories and results obtained in this thesis are very useful for the deep research of 6-axis F/T sensor and 6-DOF mouse. It is a matter of great significance to promote the development of Robot intelligentizing in our country.
引文
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125 高峰，金振林，赵现朝．新型并联结构6维控制器．中国专利，申请号01122211．5，2001．6．15
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