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Research and Design of a Pre-Stressed Six-Component Force/Torque Sensor Based on the Stewart Platform

[+] Author Affiliations
Yong-Sheng Zhao, Yu-Lei Hou, Zhi-Wei Yan, Hui-Ling Yuan, Jin Gao

Yanshan University, Qinhuangdao, Hebei, China

Paper No. DETC2005-84227, pp. 573-581; 9 pages
doi:10.1115/DETC2005-84227
From:
  • ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 7: 29th Mechanisms and Robotics Conference, Parts A and B
  • Long Beach, California, USA, September 24–28, 2005
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4744-6 | eISBN: 0-7918-3766-1
  • Copyright © 2005 by ASME

abstract

This paper presents the research and design of a novel parallel architecture of pre-stressed six-component force/torque sensor based on the Stewart platform. The mathematical model of the structure was build by using the screw theory. The influence of joint frictional moment on the performances of the sensor is analyzed by using the concept of kinematic influence coefficient. In this paper, we define the indices of force/torque isotropy and generalized amplifying index to evaluate the performances of the sensor and discuss the optimal design of the sensor dimensions considering these indices. The prototype sensor was designed and manufactured. The theoretical and experimental study of the static calibration of the prototype is carried out, and the problem of the hyperstatic is solved perfectly. The results from the static calibration experimentation validate the correctness of the theoretical analysis.

Copyright © 2005 by ASME
Topics: Force , Torque , Sensors , Design

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