|
|
【答案】应助回帖
★ ★ ★ ★ ★ ★ ★ ★ ★ ★ ★ ★ ★ ★ ★ ★ ★ ★ ★ ★ ★ ★ ★ ★ ★ ★ ★ ★ ★ ★ ★ ★ ★ ★ ★ ★ ★ ★ ★ ★ ★ ★ ★ ★ ★ ★ ★ ★ ★ ★ ★ ★ ...
wangbingnefu: 金币+70, 翻译EPI+1, ★★★★★最佳答案, 很有帮助 谢谢 2013-04-01 16:00:40
|
An elastomer structure adopting the n-SS redundant parallel mechanism as wide range and large force plate six-axis force sensor is presented. Also, based on screw theory and deformation compatibility conditions, an analytic method is proposed to analyze the six-axis force sensor with indeterminate n-SS(n>6) redundant parallel structure, and then all mapping relationship betwween branched axial forces of n branch rods and six-axis external force is exported. By parsing the generalized inverse of block matrices, an easy method is introduced to analyze the axial force of branch rods in a unitied form, whether the rods are of same or different stiffness. The analytical expression obtained takes on a clear physical concept. Finally, the method of numerical solution is used to verify the validity of solving branched axial forces based on generalized inverse matrices. |
|
回复此楼