SIA OpenIR  > 机器人学研究室
Study on friction modeling for sizable stewart platform-based force/torque sensor
Zhao YZ(赵延治); Zhao TS(赵铁石); Wen R(温锐); Wang HG(王洪光)
作者部门机器人学研究室
会议名称IEEE International Conference on Robotics and Biomimetics (ROBIO 2007)
会议日期December 15-18, 2007
会议地点Sanya, China
会议主办者IEEE Robot & Automat Soc, Shandong Univ, Chinese Univ Hong Kong, Chiba Inst Technol, Robot Soc Japan, Soc Instrument & Control Engn, Japan Soc Mech Engn, ROBIO Fdn
会议录名称2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5
出版者IEEE
出版地NEW YORK
2007
页码1682-1687
收录类别EI ; CPCI(ISTP)
EI收录号20083411464380
WOS记录号WOS:000257065801127
产权排序2
ISBN号978-1-4244-1761-2
关键词Force/torque Sensor Stewart Platform Joint-friction Precision Screw Theory
摘要To further improve the precision of sizable Stewart platform-based force/torque sensor with general spherical joints in existing manufacture and calibration techniques, substituting spherical joints with three equivalent revolute joints, the paper presents the friction model of sizable parallel 6-axis force sensor with Stewart structure based on the screw theory and theory of influence coefficient. The friction influence matrix and the expressions of type I/II errors are deduced, which indicate the effect of joint-friction upon precision of measurement. Then, the graphs of type I/II errors of the parallel 6-axis force sensor under different external forces and frictional coefficient are plotted and the rule how the jointfriction affect the measuring precision is analyzed. Thus, the powerful basis and method are raised for the improvement of the precision of sizable Stewart platform-based force/torque sensor with general spherical joints.
语种英语
引用统计
被引频次:2[WOS]   [WOS记录]     [WOS相关记录]
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/20024
专题机器人学研究室
通讯作者Zhao YZ(赵延治)
作者单位1.College of Mechanical Engineering, University of Yanshan, Qinhuangdao,Hebei Province, China
2.Institute of Shenyang Automation, Chinese Academy of Sciences, Shenyang, Liaoning Province, China
推荐引用方式
GB/T 7714
Zhao YZ,Zhao TS,Wen R,et al. Study on friction modeling for sizable stewart platform-based force/torque sensor[C]//IEEE Robot & Automat Soc, Shandong Univ, Chinese Univ Hong Kong, Chiba Inst Technol, Robot Soc Japan, Soc Instrument & Control Engn, Japan Soc Mech Engn, ROBIO Fdn. NEW YORK:IEEE,2007:1682-1687.
条目包含的文件 下载所有文件
文件名称/大小 文献类型 版本类型 开放类型 使用许可
Study on friction mo(289KB)会议论文 开放获取CC BY-NC-SA浏览 下载
个性服务
推荐该条目
保存到收藏夹
查看访问统计
导出为Endnote文件
谷歌学术
谷歌学术中相似的文章
[Zhao YZ(赵延治)]的文章
[Zhao TS(赵铁石)]的文章
[Wen R(温锐)]的文章
百度学术
百度学术中相似的文章
[Zhao YZ(赵延治)]的文章
[Zhao TS(赵铁石)]的文章
[Wen R(温锐)]的文章
必应学术
必应学术中相似的文章
[Zhao YZ(赵延治)]的文章
[Zhao TS(赵铁石)]的文章
[Wen R(温锐)]的文章
相关权益政策
暂无数据
收藏/分享
文件名: Study on friction modeling for sizable stewart platform-based force torque sensor.pdf
格式: Adobe PDF
所有评论 (0)
暂无评论
 

除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。