• CN: 11-2187/TH
  • ISSN: 0577-6686

›› 2000, Vol. 36 ›› Issue (4): 49-52.

• Article • Previous Articles     Next Articles

ANALYZE OF 6-AXIS FORCE/TORQUE SENSOR BASED ON STEWART PLATFORM RELATED TO ISOTROPY

Wang Hongrui;Chen Guilin;Gao Feng;Huang Zhen   

  1. Yanshan University
  • Published:2000-04-15

Abstract: The 6-axis force/torque sensor based on Stewart platform is determined by five mechanism parameters (radius of upper platform and down platform R1 and R2, the length of the link L1 the angle of upper platform and down platformθ A and θ B). Isotropy of the sensor is only determined by four parameters (R1, R2, L and the angle difference of upper platform and down platformθAB). The conclusion is proved.

Key words: 6-axis force/torque sensor, Isotropy, Stewart

CLC Number: