Synthesis of
a Force-Torque Sensor based on the Stewart Platform Mechanism
by Bhaskar Dasgupta, Sridhar Reddy and T. S. Mruthyunjaya
Abstract:
A method for an optimal synthesis of a Stewart platform based
wrist force sensor has been presented. The force and torque
experienced by the wrist of a manipulator is distributed to the
six legs of the Stewart platform through the top platform and
the measurement of the deformation of the legs enables us to
determine the external force and torque through a force
transformation matrix. The synthesis of the sensor mechanism
is done by minimizing the condition number of the transformation
matrix. The algorithm has been implemented and a numerical
case-study is reported.