Compliance Analysis and Design of Six-DOF Force/Moment Sensor in Stewart Configuration

摘要

As one of primary characteristics of the sensor,compliance is also a key index to describe the relations of sensor's performance and structural parameters quantitatively in the working space. Analysis on compliance indexes of six-DOF force/moment sensor based on Stewart platform is advanced using parallel robot mechanism theory, and analytic solutions of compliance indexes are presented. In order to study the law on performance impact factors of force/moment influencing the compliance indexes, performance impact factors of force/moment are introduced. A new method for design the force sensor is advanced in this paper. Compliance index atlases of six-DOF force sensor in Stewart configuration are drawn with dimensionless parameters based on space model theory, which supply theoretical basis for optimal design and application of the six-DOF force sensor.