Spatially isotropic configuration of Stewart platform-based force sensor

Yao, Jiantao; Hou, Yulei; Wang, Hang; Zhou, Tieling; Zhao, Yongsheng

doi:10.1016/j.mechmachtheory.2010.10.002

Cited by 34 publications

(8 citation statements)

References 17 publications

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“…In terms of force mapping analysis, the existing analytical mapping between the external force and reacting force of measuring limbs in parallel six-axis force sensor is obtained by the force Jacobian matrix composed of the spinors of each limb. 18,19 However, when the external force is applied to the flexible mechanism, the deformation is relatively large. The existing methods of stiffness modeling are relatively complex, and there are few studies on the exact mapping between the six dimensional external forces applied on the moving platform and the branches.…”

Section: Introductionmentioning

confidence: 99%

Stiffness modeling and force mapping analysis of hybrid-limb six-axis force sensor

Yao

Ruan

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part C:

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To meet the needs of large load and high reliability measurement under complex working conditions and downsize the outline of six-axis force sensor as much as possible, the design concept of hybrid limb is proposed to the design of parallel six-axis force sensor. A kind of heavy-load-bearing flexible integrated six-axis force sensor with hybrid limbs is proposed. The proposed force sensor adopts a hybrid-limb configuration integrating eight measuring redundant limbs and four load-bearing limbs. It is capable of measuring 5500 N vertical force, 3000 N horizontal force, 160 N·m moment about the vertical axis, and 130 N·m moment about the horizontal axis. Based on the superposition principle under small deformation, the whole stiffness matrix of force sensor and the analytical mapping relation are constructed, respectively. The accuracy of the theoretical modeling is verified by the stress analysis of the designed sensor using finite element method software ANSYS. Finally, the prototype is calibrated, and the results show that it has good linearity.

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Section: Introductionmentioning

confidence: 99%

Stiffness modeling and force mapping analysis of hybrid-limb six-axis force sensor

Yao

Ruan

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part C:

Self Cite

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“…A simple illustrative example was given. Yao et al [ 5 ] proposed a kind of six-dimensional force sensor based on the Stewart platform, and the spatially isotropic configuration is carried out. Ranganath et al [ 6 ] designed a force/torque sensor based on a Stewart platform in a near-singular configuration from the angle of the sensor sensitivity.…”

Section: Introductionmentioning

confidence: 99%

Decoupling Principle Analysis and Development of a Parallel Three-Dimensional Force Sensor

Zhao

Jiao

Weng

et al. 2016

Sensors

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In the development of the multi-dimensional force sensor, dimension coupling is the ubiquitous factor restricting the improvement of the measurement accuracy. To effectively reduce the influence of dimension coupling on the parallel multi-dimensional force sensor, a novel parallel three-dimensional force sensor is proposed using a mechanical decoupling principle, and the influence of the friction on dimension coupling is effectively reduced by making the friction rolling instead of sliding friction. In this paper, the mathematical model is established by combining with the structure model of the parallel three-dimensional force sensor, and the modeling and analysis of mechanical decoupling are carried out. The coupling degree (ε) of the designed sensor is defined and calculated, and the calculation results show that the mechanical decoupling parallel structure of the sensor possesses good decoupling performance. A prototype of the parallel three-dimensional force sensor was developed, and FEM analysis was carried out. The load calibration and data acquisition experiment system are built, and then calibration experiments were done. According to the calibration experiments, the measurement accuracy is less than 2.86% and the coupling accuracy is less than 3.02%. The experimental results show that the sensor system possesses high measuring accuracy, which provides a basis for the applied research of the parallel multi-dimensional force sensor.

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“…Yao et al [20] conducted a theoretical and experimental investigation into the isotropy performance of a pre-stressed force sensor based on a Stewart platform. In later studies, the same group proposed a spatially isotropic configuration for the sensor [21] and a task-oriented method for its design [22]. However, in force/torque sensors based on a Stewart platform, the sensing mechanisms attached to the limbs are easily damaged under heavy loads.…”

Section: Introductionmentioning

confidence: 99%

Design and Sensitivity Analysis Simulation of a Novel 3D Force Sensor Based on a Parallel Mechanism

Yang

2016

Sensors

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Automated force measurement is one of the most important technologies in realizing intelligent automation systems. However, while many methods are available for micro-force sensing, measuring large three-dimensional (3D) forces and loads remains a significant challenge. Accordingly, the present study proposes a novel 3D force sensor based on a parallel mechanism. The transformation function and sensitivity index of the proposed sensor are analytically derived. The simulation results show that the sensor has a larger effective measuring capability than traditional force sensors. Moreover, the sensor has a greater measurement sensitivity for horizontal forces than for vertical forces over most of the measurable force region. In other words, compared to traditional force sensors, the proposed sensor is more sensitive to shear forces than normal forces.

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Spatially isotropic configuration of Stewart platform-based force sensor

Cited by 34 publications

References 17 publications

Stiffness modeling and force mapping analysis of hybrid-limb six-axis force sensor

Stiffness modeling and force mapping analysis of hybrid-limb six-axis force sensor

Decoupling Principle Analysis and Development of a Parallel Three-Dimensional Force Sensor

Design and Sensitivity Analysis Simulation of a Novel 3D Force Sensor Based on a Parallel Mechanism

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