Title :
Analysis of Sensitivity for Six-Axis Force/Torque Sensor Based on Stewart Platform Sensor Based on Stewart
Author :
Chen, Gui-Lin ; Wang, Shouyu ; Jin, Zhenlin ; Guan, Xinping
Author_Institution :
Kochi Univ. of Technol., Kochi
Abstract :
The six-axis force /torque sensor based on Stewart platform has high stiffness, but this causes the sensor to have relatively low sensitivity. In order to perform the optimal design related to sensitivity and achieve relatively high sensitivity isotropy and sensitivity, the relevant analytical equations are derived. The relationships between dimensions of the sensor mechanisms and the performance evaluation criteria are also studied. Using the geometric model of solution space of sensor, performance atlases are drawn and intuitive optimal design is proposed, and the design prototype of six-axis force/torque sensor based on Stewart platform is also set up.
Keywords :
force sensors; robot dynamics; sensitivity analysis; torque; Stewart platform; intuitive optimal design; performance evaluation criteria; sensitivity analysis; sensitivity isotropy; sensor mechanisms; six-axis force/torque sensor; Capacitive sensors; Force measurement; Force sensors; Intelligent sensors; Mechanical sensors; Performance analysis; Robot sensing systems; Sensor systems; Solid modeling; Torque; Sensisitivity; Six-axis force/torque sensor; Stewart platform;
Conference_Titel :
Mechatronics and Automation, 2007. ICMA 2007. International Conference on
Conference_Location :
Harbin
Print_ISBN :
978-1-4244-0828-3
Electronic_ISBN :
978-1-4244-0828-3
DOI :
10.1109/ICMA.2007.4303978
