Six-axis force/torque sensor based on Stewart platform

Abstract

The six-axis force/torque sensor based on Stewart platform is a superior force sensor.It has advantages such as large contact plane,high carrying capability,large measuring range,and rich information of force testing.It has been applied extensively in the technology of robot,aerospace,the test ofjointing for out space ship,and the test of wind tunnel.According to all features of the sensor,the principle of sensor has been expounded,and its elastic deformation,parameter design,manufacture and installation errors that will affect the sensor's measurement accuracy are analyzed.The parameter and structure optimization of the Six-axis Stewart force/torque sensor is studied.A method of calibration,researching on the sensor's calibration algorithm is presented.And then its calibrated matrix is obtained aider calibration experiment on the sensor.It will improve the sensor's measurement accuracy when its ideal structural coefficient matrices have been substituted by calibrated matrix in the coupling of the output signals fi'om six force sensors.