中文摘要：

针对由柔性铰链构成的柔性并联Stewart平台六维力传感器弹性体结构，提出一种可用于柔性一体式并联六维力传感器六维外力与各柔性测力分支拉／压力间的精确力映射解析建模方法。基于虚功原理和几何相容条件并根据柔性铰链空间形式的柔度矩阵，构建传感器柔性串联支路末端的柔度矩阵和传感器的整体刚度矩阵。推导得到六维外力与传感器柔性分支杆所受轴向拉／压力间的解析映射关系。通过具体算例和传感器的有限元模型，对上述理论推导过程进行仿真验证。结果表明：理论值与仿真值基本吻合，最大误差在7％以内，从而说明了所提出的力映射解析方法具有较高的求解精度，并为柔性并联六维力传感器的尺寸优化设计奠定了理论基础。

英文摘要：

Aiming at the flexure parallel Stewart platform six-axis force/torque sensor elastic structure composed of flexure hinges, a precise method for the force mapping analytical modeling between six-axis external force and axial tension or compression of each flexure force-measuring branch of flexure integrated parallel six-axis force/torque sensor is proposed. Based on virtual work principle and geometric compatibility condition, and according to the spatial compliance matrix of flexure hinges, the compliance matrix of flexure series branch end of sensor and the whole stiffness matrix of sensor are constructed. The analytical mapping relationship between the six-axis external force and the axial tension or compression of each flexure branch rod of sensor is derived and obtained. The simulation verification of theoretical derivation process mentioned above is carried out by actual example and finite element model of sensor. The results show that the theoretical values and simulated values are consistent, the maximum error is within 7%, which states the force mapping analytical relationship proposed has higher precision, and lays a theoretical foundation for the size optimization design of flexure parallel six-axis force/torque sensor.