A novel structure of hyperstatic parallel six-component force sensor based on the Stewart platform was proposed, and its theoretical dynamics analysis and finite element simulation were performed. The structure feature of the sensor was described in comparison with the classical Stewart platform-based six-component force sensor. By using the finite element method, the elastic dynamics theoretical model of the sensor was established based on the conditions of displacement consistency and force balance. According to this model, the numerical analysis was carried out, and the variety relationship curves between the natural frequencies and the structural parameters are plotted. By using a ANSYS software, the finite element model of the sensor was built to analyze the vibration modal of the sensor, and the natural frequencies and the vibration modes were obtained. The research results establish the foundation for the further dynamics analysis and synthesis of the sensor and the dynamic optimization design of the sensor.%提出了一种新型的基于Stewart平台的超静定并联式六维力传感器结构,并对其进行了动力学理论分析和有限元仿真研究.描述了该传感器相对于经典Stewart平台六维力传感器所具有的结构特点;利用有限元法,采用位移协调和力平衡条件建立了传感器弹性动力学理论模型,依此模型进行数值分析,绘制了固有频率与各结构参数间变化关系曲线;并利用ANSYS软件建立了传感器有限元模型,进行了振动模态分析,得到其固有频率和振型.研究内容为深入开展六维力传感器的弹性动力学分析与综合及动态优化设计奠定了基础.
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