Performance analysis and comprehensive index optimization of a new configuration of Stewart six-component force sensor

This paper proposes a new configuration of six-component force/torque sensor based on Stewart platform, and discusses the performance analysis and comprehensive index optimization of the six-component force sensor. Based on the classical Stewart platform-based force sensor, a modified sensor structure is proposed, and their statics mathematical models are built by using the screw theory. The condition number and generalized amplifying coefficient defined by singular values of force Jacobian matrix are used to evaluate the performance of sensor, such as isotropy, sensitivity, stiffness, etc. The effect of spherical joint frictional moment on the sensor is established by using the related force mapping matrix. With the combination of the defined performance indices, the comprehensive index optimization of the structural parameters of the modified Stewart six-component force sensor is achieved by using the indices atlases and genetic algorithm. The research results of the paper are useful for the design and further research of the six-component force sensor.