中文摘要：

提出了一种新型过约束并联十二分支六维力传感器结构,基于螺旋理论建立了该新型过约束并联六维力传感器理想数学模型。在此基础上,考虑各分支结构弹性变形,针对垂向加载及水平加载两种典型工况,基于变形协调条件和静力平衡方程对该新型过约束超静定结构六维力传感器的受力情况进行了分析与仿真计算,绘制了数值算例下新型过约束并联六维力传感器各分支受力随外力变化的曲线图。

英文摘要：

A novel over-constrained parallel 12-SS six-component force/torque sensor mechanism is proposed and its ideal mathematic model is built based on the screw theory.Then,with the consideration of each branch’s elastic deformation,the simulation analysis and calculation is done in the two typical cases that the horizontal force and the vertical force are applied based on the deformation compatibility condition and the static equilibrium equations.In a numerical example,with the changing exterual force the curves of each component force on this novel sensor are plotted.