Analysis of Sensitivity for Six-Axis Force/Torque Sensor Based on Stewart Platform Sensor Based on Stewart

Author

Chen, Gui-Lin ; Wang, Shouyu ; Jin, Zhenlin ; Guan, Xinping

Author_Institution

Kochi Univ. of Technol., Kochi

fYear

2007

fDate

5-8 Aug. 2007

Firstpage

2668

Lastpage

2672

Abstract

The six-axis force /torque sensor based on Stewart platform has high stiffness, but this causes the sensor to have relatively low sensitivity. In order to perform the optimal design related to sensitivity and achieve relatively high sensitivity isotropy and sensitivity, the relevant analytical equations are derived. The relationships between dimensions of the sensor mechanisms and the performance evaluation criteria are also studied. Using the geometric model of solution space of sensor, performance atlases are drawn and intuitive optimal design is proposed, and the design prototype of six-axis force/torque sensor based on Stewart platform is also set up.

Keywords

force sensors; robot dynamics; sensitivity analysis; torque; Stewart platform; intuitive optimal design; performance evaluation criteria; sensitivity analysis; sensitivity isotropy; sensor mechanisms; six-axis force/torque sensor; Capacitive sensors; Force measurement; Force sensors; Intelligent sensors; Mechanical sensors; Performance analysis; Robot sensing systems; Sensor systems; Solid modeling; Torque; Sensisitivity; Six-axis force/torque sensor; Stewart platform;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, 2007. ICMA 2007. International Conference on

Conference_Location

Harbin

Print_ISBN

978-1-4244-0828-3

Electronic_ISBN

978-1-4244-0828-3

Type

conf

DOI

10.1109/ICMA.2007.4303978

Filename

4303978