OPTIMAL DESIGN OF A 6-AXIS FORCE TRANSDUCER BASED ON STEWART PLATFORM RELATED TO SENSITIVITY ISOTROPY

摘要

The design method of a 6-axis force robot's transducer based on the Stewart platform is detailed. For this purpose, the sensitivity isotropy evaluation criteria of the transducer are defined, and by the aid of computer, the relationships between the criteria and the parameters of all the transducers based on the Stewart platform are investigated within the geometric model of the solution space, which can provide the theoretical background for the optimal construction design of the 6-axis force transducer related to the sensitivity isotropy.