Pre-stressed six-axis force/torque sensor based on Stewart platform

Accuracy Analysis and Experimental Study of a Six-Dimensional Force Sensor with Circular Flexible Spherical Joints

“…To address the aforementioned issues, experts and scholars have proposed corresponding improvement measures. In [ 12 ], traditional spherical pairs were replaced with conical ball–socket pairs, and preloading devices were added. The conical ball head reduces the contact area with the ball socket, and the pre- tightening device reduces the gap between the ball pairs, thereby improving the impact of friction/torque and gap on sensor accuracy.…”

A Study of Flexible Force Control Method on Robotic Assembly for Spacecraft

“…Compared with the high-volume industrial products, spacecraft development is usually single and small batch, assembly condition is not fixed, diverse, require robot has sufficient to accommodate different assembly constraints.Existing robotic control are for lighter loads [5] , or space microgravity [5,6],does not consider the impact of the load gravity.Under the large load situation of ground environment,the effects of gravity load on the robot's feedback can not be ignored , in order to achieve servo control, it must be compensated for the effects of gravity loads.…”

“…Engineering Solutions in Industry 2 Flexible force control theory Flexible force control theory of robots: put a '6-axis force/torque sensor' between end effector and the end of robots,it is the key feedback components to achieve flexible force control on robots. '6-axis force/torque sensor' is the sensor that enable to measure any force system about The three dimensional orthogonal force (F x ，F y ，F z )and three-dimensional perpendicular torque(M x ，M y ，M z ) [6].In the flexible force control of robots, 6-axis force/torque sensor is for sensing informations on the role of forces and moments.…”