中国科学院沈阳自动化研究所机构知识库
Advanced  
SIA OpenIR  > 机器人学研究室  > 会议论文
题名: Static measuring model and deadweight compensation of a Stewart platform based force/torque sensor
作者: Sui CP(隋春平) ; Wang HG(王洪光) ; Fang LJ(房立金) ; Zhao MY(赵明扬)
作者部门: 机器人学研究室
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
会议主办者: IEEE, RSJ
会议录: 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-12
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2006
页码: 484-489
收录类别: CPCI(ISTP) ; EI
ISBN号: 978-1-4244-0258-8
关键词: stewart platform ; force/torque sensor ; static model ; deadweight compensation
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.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8884
Appears in Collections:机器人学研究室_会议论文

Files in This Item: Download All
File Name/ File Size Content Type Version Access License
HYQW001076.pdf(5251KB)----开放获取View Download

Recommended Citation:
隋春平; 王洪光; 房立金; 赵明扬.Static measuring model and deadweight compensation of a Stewart platform based force/torque sensor.见:IEEE .2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-12,NEW YORK,2006,484-489
Service
Recommend this item
Sava as my favorate item
Show this item's statistics
Export Endnote File
Google Scholar
Similar articles in Google Scholar
[隋春平]'s Articles
[王洪光]'s Articles
[房立金]'s Articles
CSDL cross search
Similar articles in CSDL Cross Search
[隋春平]‘s Articles
[王洪光]‘s Articles
[房立金]‘s Articles
Related Copyright Policies
Null
Social Bookmarking
Add to CiteULike Add to Connotea Add to Del.icio.us Add to Digg Add to Reddit
文件名: HYQW001076.pdf
格式: Adobe PDF
此文件暂不支持浏览
所有评论 (0)
暂无评论
 
评注功能仅针对注册用户开放,请您登录
您对该条目有什么异议,请填写以下表单,管理员会尽快联系您。
内 容:
Email:  *
单位:
验证码:   刷新
您在IR的使用过程中有什么好的想法或者建议可以反馈给我们。
标 题:
 *
内 容:
Email:  *
验证码:   刷新

Items in IR are protected by copyright, with all rights reserved, unless otherwise indicated.

 

 

Valid XHTML 1.0!
Copyright © 2007-2016  中国科学院沈阳自动化研究所 - Feedback
Powered by CSpace