Implementation of Stewart platform based force-torque sensor

Author

Dwarakanath, T.A. ; Bhaumick, T.K. ; Venkatesh, D.

Author_Institution

Div. of Remote Handling & Robotics, Bhabha Atomic Res. Centre, Bombay, India

fYear

1999

fDate

1999

Firstpage

32

Lastpage

37

Abstract

This paper deals with the development and implementation of a force-torque sensor based on the Stewart platform structure. The kinematic design is obtained based on minimum condition number criteria. Maximization of the signal to noise ratio is considered at various stages in arriving at various component shapes and dimensions. The interface and instrumentation design is also developed and discussed. Several experiments were carried out and the results are discussed. A peg in a hole experiment conducted in a force feedback loop demonstrates the implementation of force-torque sensors

Keywords

control system synthesis; feedback; force control; manipulator kinematics; optimisation; sensors; torque control; Stewart platform; force feedback; force-torque sensor; kinematics; minimum condition number criteria; parallel manipulators; signal noise ratio; Force measurement; Force sensors; Instruments; Kinematics; Leg; Mechanical factors; Mechanical sensors; Remote handling; Robot sensing systems; Torque;

fLanguage

English

Publisher

ieee

Conference_Titel

Multisensor Fusion and Integration for Intelligent Systems, 1999. MFI '99. Proceedings. 1999 IEEE/SICE/RSJ International Conference on

Conference_Location

Taipei

Print_ISBN

0-7803-5801-5

Type

conf

DOI

10.1109/MFI.1999.815961

Filename

815961