Abstract
Abstract. A shunt three-legged parallel six-dimensional force sensor has been designed for more precise measurement of six-dimensional force/moment information. The theoretical static force model of the sensor was established based on the equivalent of a six-bar closed-loop parallel mechanism. The sensor has been experimentally calibrated under a given external load, and the neural network method has been utilized to nonlinearly fit the experimental data and achieve decoupling. Furthermore, a novel gravity compensation method for the six-dimensional force sensor of the wrist of a robot has been proposed based on the CAD variable geometry method. The positive solution of the position of the parallel robot is simulated through a wire-frame diagram, enabling accurate estimation and correction of the sensor. Experimental validation has confirmed the feasibility of the compensation algorithm.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
