Design and Development of a Stewart Platform Based
Force-Torque Sensor
by T. A. Dwarakanath, Bhaskar Dasgupta and T. S. Mruthyunjaya
Abstract:
This paper details the design and development of a force-torque sensor
based on the Stewart platform structure. The optimal synthesis of
the sensor structure is performed with the objective of achieving
well-conditioned transformation between the input and output forces.
The influence of size of platform on sensitivity and the load bearing
capacity are discussed in the light of capabilities of available sensing
elements. Thus, the design is obtained by satisfying the dual objective
of isotropy and sensitivity of the force-torque sensor. Maximization of
Signal to Noise ratio (S/N ratio) is considered at various stages in
arriving at various component shapes and dimensions. The above design
has been implemented in the development of a compact force-torque sensor.