Design and analysis of parallel six-dimensional force sensor based on near-singular characteristics
Dajun Cai,
Jiantao Yao,
Weihua Gao
et al.
Abstract:The high sensitivity six-dimensional force sensor is the core component of intelligent robot force feedback perception, which is related to the structure of the sensor. This paper proposed a new modeling method to chain the near singular eight-branch Stewart mechanism, which indicates the relationship between structural parameters and sensitivity. The new method gains 16 new configurations by innovating the traditional Stewart institution. Configuration with high sensitivity in Fz, Mx and My directions is sele… Show more
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