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Optimal synthesis of a wrist-type 6 degree-of-freedom force/ torque sensor using Stewart Platform Structure

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Abstract

The F/T sensor investigated in this study utilizes the Stewart Platform Mechanism Structure. Normally-employed 6-prismatic joints are replaced by 6-prismatic bars, which are extensible and compressible only along the axial direction of the bars. The complete analyses for the design of this kind of F/T sensor are conducted: the position analysis, the first-order and second-order kinematic analyses, and the force-deformation analysis based on the first-order kinematic characteristics of the system. Lastly, a dimensional synthesis for the F/T sensor is performed based on the kinematic isotropic index.

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Kim, W., Huh, K., Yi, B. et al. Optimal synthesis of a wrist-type 6 degree-of-freedom force/ torque sensor using Stewart Platform Structure. KSME Journal 9, 462 (1995). https://doi.org/10.1007/BF02953644

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Key Words

  • Stewart Platform
  • F/T Sensor
  • Parallel Mechanism