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Abstract

A novel six-axis heavy force sensor based on the Stewart platform is proposed. To improve the capability of load bearing, the upper platform and the lower platform of the Stewart platform is fixed to a load sharing beam. Based on the deduced force/moment mapping matrix, the isotropy and sensitivity performance indices of the sensor are analysed comprehensively by employing the performance atlases. Theory analysis and experimental research of the effects of the load sharing beam on the performance indices are conducted. The results show that the change rule of the experiments basically agrees with the curve of theory, which provides necessary references of the theory and experiment for the design of a six-axis heavy force sensor with a large measuring range.

Keywords

six-axis heavy force load sharing beam isotropic sensitivity Stewart platform

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Performance index analysis of a six-axis heavy force sensor based on the Stewart platform

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References