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Optimal Reaction Wrench Measuring Platform

[+] Author Affiliations
Rajesh Kumar, Aditya Jain, Jitendra P. Khatait

Indian Institute of Technology Delhi, New Delhi, India

Paper No. IMECE2018-87057, pp. V013T05A041; 9 pages
doi:10.1115/IMECE2018-87057
From:
  • ASME 2018 International Mechanical Engineering Congress and Exposition
  • Volume 13: Design, Reliability, Safety, and Risk
  • Pittsburgh, Pennsylvania, USA, November 9–15, 2018
  • Conference Sponsors: ASME
  • ISBN: 978-0-7918-5218-7
  • Copyright © 2018 by ASME

abstract

Measurement of the reaction forces and moments (general wrench) are instrumental in the development stage of a product. Currently available measurement setups have varying ranges in different directions. The range of the device is limited to least stiff direction. The optimal use of load cell for predicted force/moment bounds is based on utilizing the system efficiently in different directions. We have presented a methodology to optimize the measurement setup based on directional stiffness behavior. The technique is coupled to design of load cell based on the characteristic structure of “Stewart platform”. The optimization function proposed allows the designer to design a measurement setup for a bound of the reaction force/moment. Additionally, the nonlinearities like friction and issue of loose joints due to relative motion at the passive joints are avoided. The improvement comes from replacement of the mechanical joints by kinematically constrained flexures.

Copyright © 2018 by ASME

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