Static measuring model and deadweight compensation of a Stewart platform based force/torque sensor
文献类型：会议论文
| 作者 | Sui CP(隋春平) ; Wang HG(王洪光); Fang LJ(房立金); Zhao MY(赵明扬)
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| 出版日期 | 2006 |
| 会议名称 | IEEE/RSJ International Conference on Intelligent Robots and Systems |
| 会议日期 | October 9-13, 2006 |
| 会议地点 | Beijing, China |
| 关键词 | stewart platform force/torque sensor static model deadweight compensation |
| 页码 | 484-489 |
| 中文摘要 | The static measuring model and the deadweight compensation of a Stewart platform based force/torque sensor have been studied in this paper. Firstly, some preliminary kinematics of this sensor is presented. Coordinates attached to every links are established, and the transforming relations between link frames and other frames are derived. Then, the static measuring model and the deadweight compensation of the sensor are produced. In the modeling, forces on links are composed based on an analytic method, and the resultant forces and torques obtained can be used as the measuring model. The weight need to be compensated of the whole mechanism is divided into two parts: links weights and top platform weight. The compensation of the links weights is involved in static modeling. And the top platform weight is compensated, subsequently. Finally, some experiments are carried out, and the results verify the validity of the static measuring model and the deadweight compensation. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | IEEE, RSJ |
| 会议录 | 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-12
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| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-0258-8 |
| WOS记录号 | WOS:000245452400080 |
| 源URL | [http://ir.sia.cn/handle/173321/8884]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Sui CP,Wang HG,Fang LJ,et al. Static measuring model and deadweight compensation of a Stewart platform based force/torque sensor[C]. 见:IEEE/RSJ International Conference on Intelligent Robots and Systems. Beijing, China. October 9-13, 2006. |
入库方式： OAI收割
来源：沈阳自动化研究所
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