Spatially isotropic configuration of Stewart platform-based force sensor

摘要

This paper studies isotropic configuration of the Stewart platform-based force sensor using an analytic approach. The conditions leading to spatially isotropic configuration are introduced. The isotropic performance of the classical Stewart platform-based force sensor is studied, the result indicates that it is impossible to realize spatial isotropy in theory. A modified Stewart platform-based force sensor which can achieve spatial isotropy is proposed. In order to obtain spatially isotropic configuration, the analytic relations of key structural parameters leading to spatially isotropic configuration are derived. Classes of spatially isotropic configurations can be easily obtained from the analytic results.