Property study on the rigidity and flexibility of 6-dimensional force/moment sensor based on Stewart configuration

摘要

Rigidity and flexibility is the basic characteristics of sensor and is the important indexes for quantitatively weighing the relationship between its property and structural parameters in the working space. By applying the theory of mechanisms of parallel robot, a theoretical deduction was carried out on property indexes of 6-dimensional force sensor based on Steward structure. The property indexes of its rigidity and flexibility were defined and analyzed thus provided theoretical basis for the optimization design and engineering application of 6-dimensional force sensor.