Method of designing a six-axis force sensor for stiffness decoupling based on Stewart platform

摘要

This paper presents a design method that yields forces/torques stiffness decoupling for six-axis force sensors based on Stewart platform. The conditions of forces/torques stiffness decoupling are analyzed and then a relationship between the stiffness decoupling and the postures of the elastic limbs is built. Through the relationship, a method of designing stiffness decoupled force sensors is proposed. In order to verify the performance of stiffness decoupling, a tri-three orthogonal sensor which can withstand large axial force/torque is designed, manufactured, and analyzed. Results show that the six-axis force sensor has lower error, so the method of designing decoupled six-axis force sensors can provide reliable guidance for sensor structure design. (C) 2019 Elsevier Ltd. All rights reserved.