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Performance analysis and optimization of sizable 6-axis force sensor based on Stewart platform
Zhao YZ(赵延治); Zhao TS(赵铁石); Wen R(温锐); Wang HG(王洪光)
Department机器人学研究室
Conference NameIEEE International Conference on Mechatronics and Automation
Conference DateAugust 5-8, 2007
Conference PlaceHarbin, China
Author of SourceIEEE Robotics and Automation Society; Harbin Engineering University; Kagawa University; National Natural Science Foundation of China; The Ministry of Education (MOE) of P. R. China
Source PublicationProceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
PublisherIEEE
Publication PlaceNEW YORK
2007
Pages2189-2193
Indexed ByEI ; CPCI(ISTP)
EI Accession number20075110979568
WOS IDWOS:000251178102105
Contribution Rank2
ISBN978-1-4244-0827-6
AbstractTo improve the performances of the parallel 6-axis force sensor with Stewart platform, the paper plots the indices atlases based on the screw theory and the theory of physical model of the solution space, and summaries the laws how the structure parameters affect the indices. Then, the sizable parallel 6-axis force sensor's structure parameters are optimized in nonlinear single objective and multi-objective respectively, in order to obtain better performances than that of the initial ones. So, the powerful basis and method are raised for design and optimization of the sizable parallel Stewart platform 6-axis force sensor with general spherical joint.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/20023
Collection机器人学研究室
Corresponding AuthorZhao YZ(赵延治)
Affiliation1.College of Mechanical Engineering, University of Yanshan, Qinhuangdao, Hebei Province, 066004, China
2.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning Province, 110016, China
Recommended Citation
GB/T 7714
Zhao YZ,Zhao TS,Wen R,et al. Performance analysis and optimization of sizable 6-axis force sensor based on Stewart platform[C]//IEEE Robotics and Automation Society; Harbin Engineering University; Kagawa University; National Natural Science Foundation of China; The Ministry of Education (MOE) of P. R. China. NEW YORK:IEEE,2007:2189-2193.
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