三維平動球平臺機(jī)器人和Stewart型六維力傳感器關(guān)鍵技術(shù).pdf

1、北京工業(yè)大學(xué)博士后學(xué)位論文三維平動球平臺機(jī)器人和Stewart型六維力傳感器關(guān)鍵技術(shù)姓名：金振林申請學(xué)位級別：博士后專業(yè)：機(jī)械設(shè)計(jì)及理論指導(dǎo)教師：余躍慶20070101北京工業(yè)大學(xué)博士后研究報告ABSTRACTInthisdissertationauniquedesignfora3DOFtranslationalsphericalplatformmanipulatorisinvestigatedThismanipulatorisavar

2、ietyoftheDELTAItisshownthatthemanipulatorhasnotthedemeritofoverconstraintsandischarac_teTizedbysimplealgorithmandcontrolandoptimumtechnologicalefficiencyThispropertymakesitparticularlysuitableforcc：nainapplicationsin3DOF

3、micromauipulatorparallelkinematicmachineandvibrationtestdeskThedirectandinversedisplacementequationsofthemanipuiatoraredevelopedexplicitlyconsideringitsarchitecturefeature11”workspaceshapeandvolumeandtheeffectstothemares

4、tudiedItskinematics／mechanicstransmissionrelationshipsagederivedandthekinematics／mechanicstransmissionindicesarcdefinedInadditionthedistributionsoftheindicesinworkspacearepresentedThelayoutfeatureofanovel3DOFvibrationtes

5、tdeskisdescribedItsstaticforceandcompliancerelationshipsarederivedandtheflexibilitypropertyevaluationcriteriaandflexibilitypropertyworkspacearedefinedInadditiontheshapeoftheflexibilityworkspacecrosssectionsisdescribedwhi

6、chissignificantfortaskplanningofthetestdeskThevibrationtestdeskisparticularlysuitableforcertainappficationsin3DOFvibrationsimulationtestThecapabilityevaluationcriteriatesistnoisetransmissionof6axisforcesensorwithStewartp

7、latformstructurearepresentedandbyusingthephysicalmodeltechniquetherelationshipsbe帆vcenthecriteriaandtheparametersareanalyzedFinallyaprototype(1Igeneration)hasbeenbuiltandtheexperimentisaccomplished011theespecialcalibrati

8、ondeviceFromtheanalysisoftheresultsobtainedbyUSitrevealsthatthe6axisforcesa撼ofischaracterizedbygooddecouplingpropertyandtheinterferenceel“rorsarelessthan2％ES。田∞r(nóng)esultsandthetechniquesobtainedbythisdissertationarcsignific

9、antandusefulforthedesignanddevelopmentofthetranslationalmanipulatorandfortheindustrializationofthe6axisforcesensorwithStewartplatformstructureKeyWords：Stewartplatform；3DOFtranslationalparallelmanipulator；Vibrationtestdes