Analysis of Sensitivity for Six-Axis Force/Torque Sensor Based on Stewart Platform Sensor Based on Stewart

The six-axis force /torque sensor based on Stewart platform has high stiffness, but this causes the sensor to have relatively low sensitivity. In order to perform the optimal design related to sensitivity and achieve relatively high sensitivity isotropy and sensitivity, the relevant analytical equations are derived. The relationships between dimensions of the sensor mechanisms and the performance evaluation criteria are also studied. Using the geometric model of solution space of sensor, performance atlases are drawn and intuitive optimal design is proposed, and the design prototype of six-axis force/torque sensor based on Stewart platform is also set up.