Closed-form force sensing of a 6-axis force transducer based on the Stewart platform

Kang, Chul-Goo

doi:10.1016/s0924-4247(00)00564-1

Cited by 70 publications

(20 citation statements)

References 9 publications

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“…1 多维力传感器因其能够测量空间多维力信息， * 国家自然科学基金(51105322)、河北省自然科学基金(E2014203176)、河北省高等学校科学技术研究青年基金(QN2015040)和中国博士后科学基金(2016M590212)资助项目。20170411 收到初稿，20171014 收到修改稿在机械加工、汽车制造、智能化机器人以及航空航天等领域有着重要应用 [1] 。考虑到并联机构具有结构紧凑、刚度高等优点，研究者将其应用于多维力传感器结构设计。GAILLET 等 [2] 提出了一种基于 Stewart 平台的并联六维力传感器结构； KANG 等 [3] 研制了并联六维力传感器，并对其进行了结构优化设计；ZHAO 等 [4] 设计并研制了一种非正交式机械工程学报第 53 卷第 23 期期 54 三维力传感器；贾振元等 [5] 设计并研制了一种新型并联式压电六维力传感器，并进行了静、动态标定试验研究；文献 [6]中通过引入冗余测量分支，提出了一种重载过约束正交并联六维力传感器结构；姚建涛等 [7] 提出一种双层预紧式六维力传感器，并对其进行静态标定试验研究；文献 [8]中研制了大量程柔性铰并联六维力传感器及其加载标定试验系统。近年来，随着航空航天技术的发展，在风洞试验、火箭发射架测力以及航天器对接等试验中对重载多维测力台的需求迫切 [9] 。LIU 等 [10] 基于传统 Stewart 平台结构构型设计了一种重载六维测力台；梁建宏等 [11] 利用一维力/力矩传感器设计可以测量升力、滚转力矩、俯仰力矩、偏航力矩的四维测试平台；文献 [12]中设计了一种整体式压电三维测力平台；刘仁强等 [13] 提出一种集传感和弹性运动副于一体的光纤柔性铰链，并构造了并联测力平台；文 [16] 。基于提出的自标定原理，设计了一种适用于重载测量的并联四维测力台。 [17] (11) 到式 (15)，得到其力映射关系，将结果整理成矩阵得 …”

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Measuring Principle and Calibration Experiment of the Overloaded Self-calibration Parallel Four-dimensional Force Measuring Platform

Zhao¹

2017

JME

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Abstract：Facing the urgent need for research of the overloaded multi-dimensional force measuring platform with large measuring force area, and to avoiding the heavy loading calibration after the development of multi-dimensional force sensor, a novel weak coupling self-calibration overloaded orthogonal parallel four dimensional force measuring platform is proposed based on the proposed self-calibration concept of the multi-dimensional force sensor. The mechanical decoupling force measuring branch with orthorhombic structure is developed. The decoupling measurement principle and self-calibration principle are analyzed and verified based on the rolling friction theory. The self-calibration parallel four dimensional force measuring platform and calibration loading system are designed and developed. The calibration experimental results show that the maximum measurement error of the force measuring platform is 0.62%, and the maximum coupling error is 0.56%, which prove the decoupling and self-calibration characteristic. The study lay the foundation of the practical application of the self-calibration parallel four dimensional force measuring platform, and provide a new way for the development of the large range overloaded parallel multi-dimensional force sensor.Key words：four dimensional force measuring platform；overloaded parallel；mechanical decoupling；self-calibration 0 前言 1

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Section: 前言unclassified

Measuring Principle and Calibration Experiment of the Overloaded Self-calibration Parallel Four-dimensional Force Measuring Platform

Zhao¹

2017

JME

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“…A transducer structure which fulfills the independency requirement is the Steward platform (Kang 2001), consisting of a top plate a bottom plate and six legs connecting them. When the strains of the six legs are measured, the forces and torques can be reconstructed.…”

Section: Fundamentals Of the Developed Sensormentioning

confidence: 99%

Fiber Bragg Grating-Based Force-Torque Sensor with Six Degrees of Freedom

Müller

Hoffmann

Buck

et al. 2009

International Journal of Optomechatronics

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Robotic control and force-feedback applications require multi-axial force and torque sensing. One possible implementation of future sensors is seen in fiber optic force torque sensors, since the signal demodulation may be located in some distance to the actual sensor and they also do not have to include any magnetic material. This article presents a fiber Bragg grating-based force and torque sensor with six degrees of freedom. The general setup resembles a Stewart platform. Its connecting beams are formed by the fiber used to measure the deformation of the transducer. The element creating stiffness may be of arbitrary form. We demonstrate how the sensor is realized and show results of all six force and torque measurements. We present a theoretical model of the sensor. The results in this work demonstrate the feasibility of a fiber-optic force-torque sensor.

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“…Yao and Hou et al implemented the structural analysis and the finite element analysis of a novel pre-stressed six-component forcetorque sensor based on the Stewart platform [10]. In order to obtain the force and torque acting on the platform, Kang derived a closed-form solution of the Stewart platform forward kinematics by means of linearizing the inverse kinematics equations [11]. By the advantage of the finite element analysis, Krouglicof optimized a 6-dimensional sensor geometry and determined the force transformation matrix [12], Liu optimized a mechanism dimension of 6-component parallel force sensor for the human dynamics analysis [13], Zhao analyzed the dynamic and the static characteristic of a 6-dimensional stiff sensor respectively [14].…”

Section: Introductionmentioning

confidence: 99%

The generalized interactive force calculation for the helmet mounted display with the 6URHS parallel manipulator

2015

2015 12th International Conference on Fuzzy Systems and Knowledge Discovery (FSKD)

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The method based on the dynamic model to calculate the generalized interactive force between the user's head and the 6URHS parallel manipulator is proposed to validate the feasibility of the active compliance control strategy in [2]. Firstly, the dynamics pertaining to arbitrary leg of the 6URHS parallel manipulator are investigated, and dynamic equations for the leg are derived. Secondly, the dynamic analysis for the sensor group which is a part of the leg and made up of a sensor and the upper part of the spherical joint is developed, and Newton equations for the sensor group are also presented. Thirdly, the relationship expressions about the driving torques of the 6URHS parallel manipulator and the sensor feedbacks are obtained by means of combining the dynamic equations for the legs with the sensor groups. Finally, based on the dynamic model of the 6URHS parallel manipulator and the relationship expressions above, the formula for calculating generalized interactive force is proposed; both simulation and experiment are implemented, simulation results show that the feasibility and the accuracy of the proposed method are better, and the practicability of the method and the performance of the active compliance control strategy are proved to be fine with the experimental results.

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Closed-form force sensing of a 6-axis force transducer based on the Stewart platform

Cited by 70 publications

References 9 publications

Measuring Principle and Calibration Experiment of the Overloaded Self-calibration Parallel Four-dimensional Force Measuring Platform

Measuring Principle and Calibration Experiment of the Overloaded Self-calibration Parallel Four-dimensional Force Measuring Platform

Fiber Bragg Grating-Based Force-Torque Sensor with Six Degrees of Freedom

The generalized interactive force calculation for the helmet mounted display with the 6URHS parallel manipulator

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