對基于Stew art 平臺的六維力/力矩傳感器的雅可比矩陣進行了解析推導(dǎo), 用解析的方式求出它的奇異值。并對基于矩陣譜范數(shù)的條件數(shù)進行了研究, 得到傳感器的各向同性與其結(jié)構(gòu)尺寸間的解析關(guān)系, 為傳感器性能指標(biāo)的評價及其結(jié)構(gòu)優(yōu)化設(shè)計提供了一種較好的借鑒方法。
關(guān)鍵詞: 六維力/力矩傳感器; 雅可比矩陣; 條件數(shù); 各向同性
Abstract: Jacobian mat rix of the six2axis fo rce? to rque senso r based on a Stew art p latfo rm is analyzed, and singular values are obtained by mat rix t ransfo rm. Relat ionsh ip betw een iso t ropy and frame dimension is de2 rived from analysis of the condit ion number based on the mat rix spect ral no rm , w h ich p rovides a bet ter method fo r evaluat ion of the perfo rmance index and op t im izat ion of the framewo rk fo r the fo rce? to rque sen2 so r.
Key words: six2axis fo rce? to rque senso r; Jacobian mat rix; condit ion number; iso t ropy