Transactions of Nanjing University of Aeronautics & Astronautics
Isotropic Optimization of a Stewart-Type Six-Component Force Sensor
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Abstract:
This paper presents the isotropic optimization of a Stewart-type six-component force sensor. First， the static model of the sensor is built by the screw theory and the forward isotropy indexes and the inverse isotropy indexes are further presented. Second， a comprehensive evaluation function is established to evaluate the isotropic performance of the sensor. By compromising all the isotropy indexes and solving the extreme value of the function， the sensor optimization process is completed and an optimal solution of a set of sensor structure parameters is obtained. Finally， the design of the components and the assembly of the prototype are established by 3D modeling software Pro-E. The verification of the isotropic performance of the sensor is conducted by the finite element analysis software ANSYS. The results obtained by our research can provide useful reference to the isotropic performance evaluation and structure design of the stewart-type six-component force sensor.
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Project Supported:
This work was supported by the Fundation of Graduate Innovation Center in Nanjing University of Aeronautics and Astronautics （No.kfjj20190308） and the Fundamental Research Funds for the Central Universities.
Clc Number:
TP212.1
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