Development of 3UPU-I parallel sensor with six division-force limbs for measuring robotic wrist load

摘要

A 3UPU-I parallel sensor with six division-force limbs and six standard force sensors is developed for measuring robotic wrist load. Its measuring approach and performances are studied and evaluated. A prototype of the developed parallel sensor is built up and its merits are analyzed. A statics equation among the forces of the six standard force sensors and the wrist load is established, and a mapped matrix from the workload to the forces of the six standard force sensors is derived based on a 3UPU-I parallel mechanism of the developed parallel sensor. The performances of the developed parallel sensor are analyzed and evaluated by respectively varying key parameters for constructing the developed parallel sensor, and the reasonable values of the key parameters are determined. The forces of the six standard force sensors are measured by adding different workload components onto the loaded platform of the prototype. Finally, some theoretical solutions of the developed parallel sensor are solved and verified by the FE simulation solutions of the developed parallel sensor. The experimental calibration solutions of the prototype are coincident with the theoretical solutions. (C) 2020 Elsevier B.V. All rights reserved.