Configuration and isotropy study of a novel fully pre-stressed and double-layer six-component force/torque sensor

A novel fully pre-stressed six-component force/torque sensor based on double-layer Stewart platform is proposed, and the parameter optimization of the sensor structure with genetic algorithms (GA) is presented. The structure characteristic of the fully pre-stressed sensor is analyzed in comparison with the traditional Stewart platform-based sensor. The number of the elastic limbs is determined by using Carathodory´s theorem and Steinitz´s theorem in convex analysis. In order to achieve the best performance, the static mathematical model is built by using screw theory, and the isotropy indices of the sensor are studied systematically. By compromising all the isotropy indices, the optimal design of the sensor structure is performed based on genetic algorithms, and the best comprehensive index of Stewart platform-based force sensor is obtained. The research results of the paper are useful for the design and further research of the six-component force/torque sensor.