Statics and stiffness analysis of a novel six-component force/torque sensor with 3-RPPS compliant parallel structure

A statics and stiffness model of a novel six-component force/torque sensor with a 3-RPPS compliant parallel structure is established and analyzed based on a 3-RPS parallel mechanism. First, the basic principle of the developed sensor is explained and a static model of the 3-RPS parallel mechanism is established. Second, a stiffness model of the RPPS-type compliant limb is derived, and the stiffness of the single standard force sensor is determined by measuring the forces of the standard force sensor under given workloads. Third, the statics model among the forces of the standard force sensors and the external load are established, and the forces of the six standard force sensors are measured under given external load. Fourth, a finite element (FE) model of the proposed sensor is established, the forces applied on standard sensor are solved. Finally, the analytical solutions of the stiffness model and statics model of the developed sensor are obtained and verified by its FE model solutions and experimental solutions.