Abstract 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.

中文翻译：

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用于测量机器人腕部负荷的 3UPU-I 六分力臂并联传感器的研制

摘要 研制了一种具有六个分力臂和六个标准力传感器的3UPU-I并联传感器，用于测量机器人手腕负荷。对其测量方法和性能进行了研究和评估。建立了所开发的并行传感器的原型并分析了其优点。建立了六个标准力传感器的力与手腕负荷之间的静力学方程，并基于开发的并联传感器的3UPU-I并联机构推导出工作负荷到六个标准力传感器的力的映射矩阵. 通过分别改变构造并联传感器的关键参数，对研制的并联传感器的性能进行分析和评价，确定关键参数的合理取值。六个标准力传感器的力是通过在原型的加载平台上添加不同的工作负载组件来测量的。最后，通过开发的并行传感器的有限元仿真解​​决方案，对开发的并行传感器的一些理论解决方案进行了求解和验证。样机的实验校准解与理论解一致。