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提出采用冗余并联结构作为大量程大测力板六维力传感器的弹性体结构。基于整体刚度和变形协调条件,提出一种求解冗余n-SS(n>6)并联Stewart结构六维力传感器超静定受力分析的解析方法,导出了n个分支杆轴向力与六维外力之间的全映射关系。通过解析分析分块矩阵的广义逆,得到了当各分支杆刚度一致或不一致时形式统一的各分支杆轴向受力分析的求解方法。最后,利用数值算例验证了上述两种方法的正确性,并表明采用广义逆矩阵求解冗余并联结构各分支杆轴向力不仅形式简洁,而且易于计算机编程实现,具有重要的应用前景。
The redundant parallel structure is proposed to be used as the elastic body structure of the large range and large force plate six-dimensional force sensor. Based on the overall stiffness and deformation coordination conditions, an analytical method for solving the unsteady force analysis of a six-dimensional force sensor with redundant n-SS (n> 6) parallel Stewart structures is proposed, and the axial force of n branch rods and six Full mapping between external forces. By analyzing and analyzing the generalized inverse of the partitioned matrix, the solution to the axial force analysis of each branch rod is obtained when the rigidity of each branch rod is consistent or inconsistent. Finally, numerical examples are used to verify the correctness of the above two methods. It is shown that using generalized inverse matrix to solve the axial force of each branch of redundant parallel structure is not only simple in form, but also easy to be programmed by computer. It has an important application prospect.