Identification of Parameters for a Stewart Platform-based Force/Torque Sensor

In this paper, the mechanical configuration and the principle of the measurement for a Stewart platform-based multicomponent force/torque sensor is introduced. A novel calibration method for geometric parameters is presented, which is to connect a fixed base to the top platform using one link in turn and measure the poses of the top platform. According to the poses measured on the coordinate measuring machine (CMM), the geometric parameters of the multicomponent force/torque sensor can be calculated separately. The inverse and forward kinematic model has been formulated to optimize the geometric parameters and compute the resulting forces of the multicomponent force/torque sensor. Several experiments have been carried out and the results prove that the calibration method is correct and valid