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.

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