Measurement method of six-axis load sharing based on the Stewart platform

In this paper, a measurement method of six-axis load sharing based on the Stewart platform is presented. The force Jacobin matrix of the Stewart platform, the solution of forward kinematics of the Stewart platform and the deep beam element stiffness matrices were combined in the decoupling algorithm. The FEM model was established, and the results of FEM analysis agreed well with the calculation results from proposed method, which proves the effectiveness of the method of six-axis load sharing. Moreover, a six-axis heavy force sensor based on the Stewart platform was demonstrated in order to investigate the reasonability and validity of the six-axis load sharing model. And the experiment results verified the feasibility of the method.

[1]  Tsuneo Yoshikawa,et al.  A six-axis force sensor with three-dimensional cross-shape structure , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[2]  Zhenyuan Jia,et al.  A novel parallel piezoelectric six-axis heavy force/torque sensor , 2009 .

[3]  D. R. Kerr,et al.  Analysis, Properties, and Design of a Stewart-Platform Transducer , 1989 .

[4]  Yongsheng Zhao,et al.  Theoretical analysis and experiment research of a statically indeterminate pre-stressed six-axis force sensor , 2009 .

[5]  Chul-Goo Kang.  Closed-form force sensing of a 6-axis force transducer based on the Stewart platform , 2001 .

[6]  Makoto Kaneko,et al.  Twin-head type six-axis force sensors , 1993, Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93).

[7]  Wisama Khalil,et al.  Self calibration of Stewart-Gough parallel robots without extra sensors , 1999, IEEE Trans. Robotics Autom..

[8]  Kazuhiro Kosuge,et al.  Input/output force analysis of parallel link manipulators , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.