Abstract
A stiffness decoupling 8/4-4 parallel force sensing mechanism (PFSM) is presented. Its mathematic model is established with screw theory. The force mapping relation is studied and the stiffness matrix is found to be a diagonal matrix, which proves the stiffness decoupling characteristics of the mechanism. According to the concept of fully isotropy, the isotropy conditions are analyzed, the parameters which meet fully isotropy are given. The 8/4-4 PFSM’s configuration under isotropy parameters is analyzed. Based on this configuration, an 8/4-4 mechanism cluster which meets the fully isotropy is presented. The cluster’s configuration is classified and induced into four main configurations according to the different parameter conditions.
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Acknowledgements
This research is sponsored by the financial support of National Natural Science Foundation of China (No. 5167052346) and Heibei Provincial Natural Science Foundation (No. E2015203165).
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Yao, J., Wang, D., Lin, X., Zhang, H., Xu, Y., Zhao, Y. (2017). Isotropy Analysis of a Stiffness Decoupling 8/4-4 Parallel Force Sensing Mechanism. In: Huang, Y., Wu, H., Liu, H., Yin, Z. (eds) Intelligent Robotics and Applications. ICIRA 2017. Lecture Notes in Computer Science(), vol 10464. Springer, Cham. https://doi.org/10.1007/978-3-319-65298-6_9
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